CC-VPSTO: Chance-Constrained Via-Point-Based Stochastic Trajectory Optimisation for Online Robot Motion Planning Under Uncertainty

Lara Brudermüller, Guillaume O. Berger, Julius Jankowski, Raunak Bhattacharyya, Sylvain Calinon, Raphaël M. Jungers, Nick Hawes, Oxford Robotics Institute, University of Oxford, Idiap Research Institute, Ecole Polytechnique Fédérale de Lausanne

The International Journal of Robotics Research

Published online on July 17, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
Reliable robot autonomy hinges on decision-making systems that account for uncertainty without imposing overly conservative restrictions on the robot’s action space. We introduceChance-Constrained Via-Point-Based Stochastic Trajectory Optimisation(CC-...