Risk Aware and Robust Nonlinear Planning
MIT OpenCourseWare offers this graduate-level course taught by Dr. Ashkan Jasour on controlling and verifying the safety of nonlinear dynamical systems under uncertainty. The curriculum covers probabilistic and robust optimization techniques, drawing on the theory of measures and moments, the theory of nonnegative polynomials, and semidefinite programming to build convex optimization formulations for uncertain systems. Applications focus on autonomous systems and robotics, connecting abstract mathematical tools to real control and safety-verification problems. As an MIT OCW offering, the course includes lecture materials and course notes free to access, with no tuition or certificate fee attached. It suits students with a strong background in optimization, control theory, or applied mathematics who want to see how rigorous convex methods handle risk in nonlinear planning.