no code implementations • 8 Jan 2024 • Kai Ren, Colin Chen, Hyeontae Sung, Heejin Ahn, Ian Mitchell, Maryam Kamgarpour
We present a chance-constrained model predictive control (MPC) framework under Gaussian mixture model (GMM) uncertainty.
no code implementations • 5 Aug 2021 • Heejin Ahn, Colin Chen, Ian M. Mitchell, Maryam Kamgarpour
We develop a computationally efficient, scenario-based approach that solves the motion planning problem with high confidence given a quantifiable number of samples from the multimodal distribution.