Qi Heng Ho

Continuous-Time Gaussian Belief Trees for Motion Planning

Rayan Mazouz, Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian

We address sampling-based motion planning for continuous-time stochastic systems under process and measurement uncertainty, with probabilistic guarantees on safety and performance. The robot dynamics are modeled as a continuous-time linear stochastic differential equation, while…Read more