Related papers: Computing Minimum Time Paths With Bounded Accelera…
An algorithm for planning near time-optimal trajectories for systems with an oscillatory internal dynamics has been developed in previous work. It is based on assembling a complete trajectory from motion primitives called jerk segments,…
In this paper, we address a minimum-time steering problem for a drone modeled as point mass with bounded acceleration, across a set of desired waypoints in the presence of gravity. We first provide a method to solve for the minimum-time…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…
This paper presents a triple optimization algorithm of two-dimensional space, driving path and driving speed, and iterates in the time dimension to obtain the local optimal solution of path and speed in the optimal driving area. Design…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…
The basic module for the solution of the minimum time optimal control of a car-like vehicle is herein presented. The vehicle is subject to the effect of laminar (linear) and aerodynamic (quadratic) drag, taking into account the asymmetric…
We propose a novel method for planning shortest length piecewise-linear motions through complex environments punctured with static, moving, or even morphing obstacles. Using a moment optimization approach, we formulate a hierarchy of…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
Large optimal transport problems can be approached via domain decomposition, i.e. by iteratively solving small partial problems independently and in parallel. Convergence to the global minimizers under suitable assumptions has been shown in…
For any quantity of interest in a system governed by ordinary differential equations, it is natural to seek the largest (or smallest) long-time average among solution trajectories, as well as the extremal trajectories themselves. Upper…
In this paper, we introduce a trajectory planning problem for a marsupial robotics system consisting of a ground robot, a drone, and a taut tether of bounded length connecting the two robots. This problem can be framed within the context of…
The determination of time-dependent collision-free shortest paths has received a fair amount of attention. Here, we study the problem of computing a time-dependent shortest path among growing discs which has been previously studied for the…
The computation of time-optimal velocity profiles along prescribed paths, subject to generic acceleration constraints, is a crucial problem in robot trajectory planning, with particular relevance to autonomous racing. However, the existing…
The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…
For a vehicle on an assigned path, we find the minimum-time speed law that satisfies kinematic and dynamic constraints, related to maximum speed and maximum tangential and transversal acceleration. We present a necessary and sufficient…
In this paper we discuss a sequential algorithm for the computation of a minimum-time speed profile over a given path, under velocity, acceleration and jerk constraints. Such a problem arises in industrial contexts such as automated…