Robust Tracking with Model Mismatch for Fast and Safe Planning: An SOS Optimization Approach

Computer Science

• Dimensional Model 100%
• System Dynamics 50%
• Optimization Algorithm 50%
• Motion Planning 50%
• Planning Algorithm 50%
• Computation Time 50%
• Dimensional System 50%
• Sum-of-Squares Programming 50%
• Safety Critical Systems 50%

Keyphrases

• Dynamic Feasibility 33%
• Hamilton-Jacobi 33%
• Real-time Motion Planning 33%
• Jacobi Analysis 33%
• Conservativeness 33%
• Bilinear Optimization 33%