Fast, Safe and Robust Motion Planning for Autonomous Vehicles Based on Robust Control Invariant Tubes

• Extends robust control invariant (RCI) tubes to motion planning, enabling preemptive handling of closed-loop uncertainties. • Translates state and control constraints into RCI tube constraints, ensuring safety and optimality beyond nominal open-loop models. • Introduces a parameterized explicit iterative expression for ellipsoidal uncertainty propagation, accelerating the solving process. • Validates the framework under kinematic and dynamic vehicle models with various uncertainties, demonstrating fast, closed-loop safety and robustness.