Evaluation of a novel Collision Probability approximation for local obstacle avoidance

In the domain of robotics, addressing motion uncertainty and incomplete environmental knowledge remains a persistent challenge for real-world applications. This work presents a recently introduced approximation method for computing collision probability in continuous domains. We provide a concise overview of the theoretical foundations before introducing our proposed approximation technique. To demonstrate the potential of our approach, we conduct a comparative analysis against an established method within a trajectory optimization framework. The experiment results suggest that the proposed method offers promising performance in this context.