Trajectory Planning Under Environmental Uncertainty With Finite-Sample Safety Guarantees

This repository contains the source code used for the paper titled "Trajectory Planning Under Environmental Uncertainty With Finite-Sample Safety Guarantees" published in Automatica. DOI: 10.1016/j.automatica.2021.109754

Dependencies

The following dependencies need to be installed/configured and must be on the MATLAB path:

• YALMIP (configured with an appropriate solver like CPLEX)
• matlab2tikz
• MagInset

Generating plots

In order to reproduce the simulations and plots of the paper, navigate inside the inside the corresponding chapter folder and run the generatePlots MATLAB function. The function will run all the necessary simulations and produce all the plots of the paper. The plots will also be saved under a plots folder in TikZ format, which can then be readily included in a LaTeX document.

Citing this work

Please cite the original paper when using any part of this code. BibTeX citation data:

@article{Lefkopoulos2021,
	author	    = "V.~Lefkopoulos and M.~Kamgarpour",
	title	    = "Trajectory Planning Under Environmental Uncertainty With Finite-Sample Safety Guarantees",
	journal     = "Automatica", 
	year	    = "2021",
	volume      = "131",
	pages       = "109754",
}