{"id":"https://openalex.org/W4388579802","doi":"https://doi.org/10.1109/lra.2023.3331889","title":"Risk-Averse Trajectory Optimization via Sample Average Approximation","display_name":"Risk-Averse Trajectory Optimization via Sample Average Approximation","publication_year":2023,"publication_date":"2023-11-10","ids":{"openalex":"https://openalex.org/W4388579802","doi":"https://doi.org/10.1109/lra.2023.3331889"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3331889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3331889","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04305407/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085222818","display_name":"Thomas Lew","orcid":"https://orcid.org/0000-0002-8209-3604"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Thomas Lew","raw_affiliation_strings":["Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8209-3604","affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011388253","display_name":"Riccardo Bonalli","orcid":"https://orcid.org/0000-0003-2561-1804"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Riccardo Bonalli","raw_affiliation_strings":["Laboratory of Signals and Systems, University of Paris-Saclay, CNRS, CentraleSupélec, Gif-sur-Yvette, France"],"raw_orcid":"https://orcid.org/0000-0003-2561-1804","affiliations":[{"raw_affiliation_string":"Laboratory of Signals and Systems, University of Paris-Saclay, CNRS, CentraleSupélec, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I277688954","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0206-4337","affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5085222818"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":2.1914,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.90002868,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"9","issue":"2","first_page":"1500","last_page":"1507"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9742000102996826,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9514999985694885,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7033618688583374},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6005345582962036},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5216434597969055},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5139645934104919},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5112960338592529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5024635791778564},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49193570017814636},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4873841404914856},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.44519785046577454},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4263412058353424},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41043639183044434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38173216581344604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23405015468597412},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.20449715852737427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07138732075691223}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7033618688583374},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6005345582962036},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5216434597969055},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5139645934104919},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5112960338592529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5024635791778564},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49193570017814636},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4873841404914856},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.44519785046577454},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4263412058353424},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41043639183044434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38173216581344604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23405015468597412},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.20449715852737427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07138732075691223},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3331889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3331889","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04305407v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04305407","pdf_url":"https://hal.science/hal-04305407/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2023, ⟨10.1109/LRA.2023.3331889⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04305407v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04305407","pdf_url":"https://hal.science/hal-04305407/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2023, ⟨10.1109/LRA.2023.3331889⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G561890018","display_name":null,"funder_award_id":"80NSSC20M0163","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G5651149180","display_name":null,"funder_award_id":"ANR-22-CE48-0006","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320322037","display_name":"Nuclear Safety and Security Commission","ror":"https://ror.org/05qk3ge34"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388579802.pdf"},"referenced_works_count":63,"referenced_works":["https://openalex.org/W1712772804","https://openalex.org/W1965842330","https://openalex.org/W1967729795","https://openalex.org/W2018705428","https://openalex.org/W2049670620","https://openalex.org/W2110349823","https://openalex.org/W2123871098","https://openalex.org/W2127788848","https://openalex.org/W2141022831","https://openalex.org/W2153885307","https://openalex.org/W2162117184","https://openalex.org/W2164499670","https://openalex.org/W2167052694","https://openalex.org/W2167412190","https://openalex.org/W2229105208","https://openalex.org/W2294586855","https://openalex.org/W2365574823","https://openalex.org/W2579923771","https://openalex.org/W2619551236","https://openalex.org/W2738707889","https://openalex.org/W2750408863","https://openalex.org/W2769646558","https://openalex.org/W2910239470","https://openalex.org/W2954940391","https://openalex.org/W2957761226","https://openalex.org/W2963627347","https://openalex.org/W2963689432","https://openalex.org/W2963732412","https://openalex.org/W3001538587","https://openalex.org/W3021487874","https://openalex.org/W3039423908","https://openalex.org/W3046272382","https://openalex.org/W3048727147","https://openalex.org/W3084175831","https://openalex.org/W3084558633","https://openalex.org/W3098201584","https://openalex.org/W3101798601","https://openalex.org/W3105252106","https://openalex.org/W3105849782","https://openalex.org/W3109585842","https://openalex.org/W3116651890","https://openalex.org/W3127508379","https://openalex.org/W3133498163","https://openalex.org/W3135152360","https://openalex.org/W3171935329","https://openalex.org/W3174748154","https://openalex.org/W3177428007","https://openalex.org/W3202328163","https://openalex.org/W3205823488","https://openalex.org/W3209492493","https://openalex.org/W4206099725","https://openalex.org/W4210985923","https://openalex.org/W4211030719","https://openalex.org/W4221156184","https://openalex.org/W4224060622","https://openalex.org/W4225669925","https://openalex.org/W4283316237","https://openalex.org/W4285203271","https://openalex.org/W4312391553","https://openalex.org/W6681302627","https://openalex.org/W6732517885","https://openalex.org/W6783147166","https://openalex.org/W6839294143"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670","https://openalex.org/W2119925415"],"abstract_inverted_index":{"Trajectory":[0],"optimization":[1],"under":[2],"uncertainty":[3],"underpins":[4],"a":[5,43,59],"wide":[6],"range":[7],"of":[8,19,23,93],"applications":[9],"in":[10,17,100],"robotics.":[11],"However,":[12],"existing":[13],"methods":[14],"are":[15],"limited":[16],"terms":[18],"reasoning":[20],"about":[21],"sources":[22],"epistemic":[24],"and":[25,29,34,66,81,91,106],"aleatoric":[26],"uncertainty,":[27],"space":[28],"time":[30],"correlations,":[31],"nonlinear":[32,101],"dynamics,":[33,102],"non-convex":[35],"constraints.":[36],"In":[37],"this":[38],"work,":[39],"we":[40,57],"first":[41],"introduce":[42],"continuous-time":[44],"planning":[45,54],"formulation":[46],"with":[47,98],"an":[48,64],"average-value-at-risk":[49],"constraint":[50],"over":[51],"the":[52,76,88,94],"entire":[53],"horizon.":[55],"Then,":[56],"propose":[58],"sample-based":[60],"approximation":[61],"that":[62,75],"unlocks":[63],"efficient":[65],"general-purpose":[67],"algorithm":[68],"for":[69],"risk-averse":[70],"trajectory":[71],"optimization.":[72],"We":[73],"prove":[74],"method":[77],"is":[78],"asymptotically":[79],"optimal":[80],"derive":[82],"finite-sample":[83],"error":[84],"bounds.":[85],"Simulations":[86],"demonstrate":[87],"high":[89],"speed":[90],"reliability":[92],"approach":[95],"on":[96],"problems":[97],"stochasticity":[99],"obstacle":[103],"fields,":[104],"interactions,":[105],"terrain":[107],"parameters.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":4}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}