RTD-RAX: Fast, Safe Trajectory Planning for Systems under Unknown Disturbances
RTD-RAX:在未知扰动下快速安全的轨迹规划
机构 * Georgia Institute of Technology(佐治亚理工学院) ; School of Electrical and Computer Engineering(电子与计算机工程学院) ; School of Mechanical Engineering(机械工程学院) ; School of Civil and Environmental Engineering(土木与环境工程学院)
AI总结 RTD-RAX通过非保守的RTD方法快速生成目标导向候选轨迹,并利用混合单调可达性实现快速扰动感知在线安全认证,确保在实时不确定环境下轨迹安全。