# Chance-Constrained Motion Planning with Event-Triggered Estimation

arXiv: https://arxiv.org/abs/2210.07190 · HTML: https://mlsanity.com/paper/2210.07190/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Oct 2022.

## Built on by (most cited first, 1 of 1)

- [Sampling-based Reactive Synthesis for Nondeterministic Hybrid Systems](https://mlsanity.com/paper/2304.06876/) (2023)

## Abstract (arXiv)

We consider the problem of autonomous navigation using limited information from a remote sensor network. Because the remote sensors are power and bandwidth limited, we use event-triggered (ET) estimation to manage communication costs. We introduce a fast and efficient sampling-based planner which computes motion plans coupled with ET communication strategies that minimize communication costs, while satisfying constraints on the probability of reaching the goal region and the point-wise probability of collision. We derive a novel method for offline propagation of the expected state distribution, and corresponding bounds on this distribution. These bounds are used to evaluate the chance constraints in the algorithm. Case studies establish the validity of our approach, demonstrating fast computation of optimal plans.