{"paper":{"title":"RADMPC: A Fast Decentralized Approach for Chance-Constrained Multi-Vehicle Path-Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.MA","cs.RO"],"primary_cat":"cs.SY","authors_text":"Aaron Huang, Benjamin J. Ayton, Brian C. Williams","submitted_at":"2018-11-25T00:43:32Z","abstract_excerpt":"Robust multi-vehicle path-planning is important for ensuring the safety of multi-vehicle systems in applications like transportation, search and rescue, and robotic exploration. Chance-constrained methods like Iterative Risk Allocation (IRA)\\cite{IRA} have been developed for situations where environmental disturbances are unbounded. However, chance-constrained methods for the multi-vehicle case generally use centralized strategies where the vehicle set is planned with couplings between all vehicle pairs. This approach is intractable as fleet size increases because computation time is exponenti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.09914","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}