Related papers: Computing minimum-time trajectories for quadrotors…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
This article presents the first complete application of a quantum time-marching algorithm for simulating multidimensional linear transport phenomena with arbitrary boundaries, whereby the success probabilities are problem intrinsic. The…
We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon…
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
In this paper, we tackle the problem of trajectory planning and control of a vehicle under locally varying traction limitations, in the presence of suddenly appearing obstacles. We employ concepts from adaptive model predictive control for…
We describe a method for formation-change trajectory planning for large quadrotor teams in obstacle-rich environments. Our method decomposes the planning problem into two stages: a discrete planner operating on a graph representation of the…
In this work we consider algorithms for reconstructing time-varying data into a finite sum of discrete trajectories, alternatively, an off-the-grid sparse-spikes decomposition which is continuous in time. Recent work showed that this…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
We study parameterized versions of classical algorithms for computing shortest-path trees. This is most easily expressed in terms of tropical geometry. Applications include shortest paths in traffic networks with variable link travel times.
We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-time B-spline based kinodynamic (RBK) search algorithm, which…
We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…
In this paper, we propose a novel optimization-based trajectory planner that utilizes spherical harmonics to estimate the collision-free solution space around an agent. The space is estimated using a constrained over-determined…
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear…
In this paper, we present an equivalent convex optimization formulation for discrete-time stochastic linear systems subject to linear chance constraints, alongside a tight convex relaxation for quadratic chance constraints. By lifting the…
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…
This work investigates the finite-horizon optimal covariance steering problem for discrete-time linear systems subject to both additive and multiplicative uncertainties as well as state and input chance constraints. In particular, a…
Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free trajectories. A layered motion planning approach with decoupled path and speed planning is widely used for this purpose. This approach is prone…
Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…
In this paper, we consider the problem of computing parameters of an objective function for a discrete-time optimal control problem from state and control trajectories with active control constraints. We propose a novel method of inverse…
In this paper, we present strategies for designing curvature-bounded trajectories of any desired length between any two given oriented points. The proposed trajectory is constructed by the concatenation of three circular arcs of varying…