@article{chanceconstrainedtrajectoryoptimization,
  title = {Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems},
  author = {Yashwanth Kumar Nakka and Anqi Liu and Guanya Shi and Anima Anandkumar and Yisong Yue and Soon-Jo Chung},
  year = {2020},
  eprint = {2005.04374},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2005.04374v3},
}