@inproceedings{ed57008b6fbc464db2d16a2985b469f8,
title = "Risk-Aware Path Planning Using CVaR for Quadrotors",
abstract = "In the presence of obstacles with static position uncertainty, a risk-aware path planning method using the conditional value-at-risk (CVaR) is proposed. Given the current position of the quadrotor, CVaR can effectively quantify the risk of collision with the static uncertain obstacle whose center of mass (CoM) follows a joint normal distribution. As a specific application of CVaR, the CVaR constrained A∗(CVaR-A∗ for simplicity) algorithm is designed to search for the optimal path while ensuring the safety of the quadrotor. The simulation results are presented to indicate the feasibility and effectiveness of the proposed CVaR-A∗ algorithm.",
keywords = "CVaR-A∗, path planning, risk-aware, static position uncertainty",
author = "Jun Bian and Jianchun Zhang and Kexin Guo and Wenshuo Li and Xiang Yu and Lei Guo",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 6th International Symposium on Autonomous Systems, ISAS 2023 ; Conference date: 23-06-2023 Through 25-06-2023",
year = "2023",
doi = "10.1109/ISAS59543.2023.10164417",
language = "英语",
series = "2023 6th International Symposium on Autonomous Systems, ISAS 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2023 6th International Symposium on Autonomous Systems, ISAS 2023",
address = "美国",
}