Risk-Bounded Continuous-Time Trajectory Planning

Code for: Ashkan Jasour, Weiqiao Han, Brian Williams, "Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments", Robotics: Science and Systems (RSS) 2021.

Paper: http://www.roboticsproceedings.org/rss17/p069.html

Videos:

1. https://www.youtube.com/watch?v=zBkbU7e9ZsM
2. https://www.youtube.com/watch?v=z594Tg8kkg8&ab_channel=AshkanJasour

---

Prerequisites:

1. MOSEK(v 9.2): https://www.mosek.com/downloads
2. RRT-SOS: The Spotless toolbox. https://github.com/spot-toolbox/spotless
3. Time-Varying-SOS: Julia (v 1.5)

---

Contact

Ashkan Jasour: [email protected]

Weiqiao Han: [email protected]