Did the particles hit the wall? A particle based method to robust control

This paper is about the implementation and details of a particle control method by Lars Blackmore. It achieves optimal robust predictive control by approximating all sources of uncertainty with particles to transform a stochastic control problem into a deterministic one. This can be solved to global optimality using Mixed Integer Linear Programming (MILP) in the case of linear system dynamics and a linear cost function. This is an interesting approach because it can be used for robust vehicle path planning under uncertainty without relying on Gaussian distributions. I will first give an overview over the method and then present details on how to model vehicle path planning as a MILP. My results verify the feasibility of Blackmore’s method.