Safe Mission Planning under Dynamical Uncertainties

• URL: http://arxiv.org/abs/2003.02913v1
• Date: Thu, 5 Mar 2020 20:45:42 GMT
• Title: Safe Mission Planning under Dynamical Uncertainties
• Authors: Yimeng Lu and Maryam Kamgarpour
• Abstract summary: This paper considers safe robot mission planning in uncertain dynamical environments. It is a challenging problem due to modeling and integrating dynamical uncertainties into a safe planning framework.
• Score: 15.533842336139063
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper considers safe robot mission planning in uncertain dynamical environments. This problem arises in applications such as surveillance, emergency rescue, and autonomous driving. It is a challenging problem due to modeling and integrating dynamical uncertainties into a safe planning framework, and finding a solution in a computationally tractable way. In this work, we first develop a probabilistic model for dynamical uncertainties. Then, we provide a framework to generate a path that maximizes safety for complex missions by incorporating the uncertainty model. We also devise a Monte Carlo method to obtain a safe path efficiently. Finally, we evaluate the performance of our approach and compare it to potential alternatives in several case studies.

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