Have spent a peaceful #Autumn half term day working in the garden, preparing for winter - and spring. Unusually warm again during daytime but cold and clear tonight. Still no frost but I could hear the red squirrels scolding each other over the neighbours hazelnuts all afternoon. Tonight, over a backyard bonfire, it is so still that I clearly hear the skeins of geese overflying Denmark on their w…
Risk-Averse Receding Horizon Motion Planning for Obstacle Avoidance using Coherent Risk Measures
This paper studies the problem of risk-averse receding horizon motion planning for agents with uncertain dynamics, in the presence of stochastic, dynamic obstacles. We propose a model predictive control (MPC) scheme that formulates the obstacle avoidance constraint using coherent risk measures. To handle disturbances, or process noise, in the state dynamics, the state constraints are tightened in a risk-aware manner to provide a disturbance feedback policy. We also propose a waypoint following …
Can we all just take a moment and acknowledge the hard work @… has put into the detailed alt text in all her sketchnotes?
Lisi Hocke (@email@example.com)
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