Related papers: Time-Optimal Path Tracking via Reachability Analys…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…
This paper studies tracking of collision-free waypoint paths produced by an offline planner for a planar double-integrator system with bounded speed and acceleration. Because sampling-based planners must route around obstacles, the…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…
Hamilton-Jacobi (HJ) reachability analysis has been developed over the past decades into a widely-applicable tool for determining goal satisfaction and safety verification in nonlinear systems. While HJ reachability can be formulated very…
Optimal path parameterization (OPP) is a fundamental problem for planning trajectories along a prescribed geometric path under kinodynamic constraints and task-dependent objectives. While TOPP minimizes traversal time, its saturating states…
We consider the parameterized complexity of the problem of tracking shortest s-t paths in graphs, motivated by applications in security and wireless networks. Given an undirected and unweighted graph with a source s and a destination t,…
In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to…
Classical deterministic optimal control problems assume full information about the controlled process. The theory of control for general partially-observable processes is powerful, but the methods are computationally expensive and typically…
Safe and smooth robot motion around obstacles is an essential skill for autonomous robots, especially when operating around people and other robots. Conventionally, due to real-time operation requirements and onboard computation…
The subpath planning problem is a branch of the path planning problem, which has widespread applications in automated manufacturing process as well as vehicle and robot navigation. This problem is to find the shortest path or tour subject…
This paper considers the problem of reachability analysis of control systems with optimal controllers, as a first step towards verifying the safety and correctness of such systems. Despite their appeal in guaranteeing task satisfaction…
When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…
Most interesting problems in robotics (e.g., locomotion and manipulation) are realized through intermittent contact with the environment. Due to the perception and modeling errors, assuming an exact time for establishing contact with the…
In this paper, we present an iterative method to quickly traverse multi-dimensional paths considering jerk constraints. As a first step, we analyze the traversal of each individual path dimension. We derive a range of feasible target…
One of the most fundamental problems in computer science is the reachability problem: Given a directed graph and two vertices s and t, can s reach t via a path? We revisit existing techniques and combine them with new approaches to support…
This article introduces a numerical algorithm that serves as a preliminary step toward solving continuous-time model predictive control (MPC) problems directly without explicit time-discretization. The chief ingredients of the underlying…
Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimization. However, standard RTD implementations suffer from…
Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational…
Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…