Related papers: Hybrid DDP in Clutter (CHDDP): Trajectory Optimiza…

Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…

For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…

Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…

Fast and reliable obstacle avoidance is an important task for mobile robots. In this work, we propose an efficient reactive system that provides high-quality obstacle avoidance while running at hundreds of hertz with minimal resource usage.…

This paper proposes a rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRRT, randomly picks a state sample and extends the search tree…

This paper addresses the kinodynamic motion planning for non-holonomic robots in dynamic environments with both static and dynamic obstacles -- a challenging problem that lacks a universal solution yet. One of the promising approaches to…

Motion planning in dynamically changing environments is one of the most complex challenges in autonomous driving. Safety is a crucial requirement, along with driving comfort and speed limits. While classical sampling-based, lattice-based,…

The sampling based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their computational efficiency and effectiveness. Recently, a variant of RRT called RRT* has been…

In this paper we solve the problem of finding a trajectory that shows that a given hybrid dynamical system with deterministic evolution leaves a given set of states considered to be safe. The algorithm combines local with global search for…

Ready Mixed Concrete Delivery Problem (RMCDP) is a multi-objective multi-constraint dynamic combinatorial optimization problem. From the operational research prospective, it is a real life logistic problem that is hard to be solved with…

High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…

This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), the control objective is to synthesize a finite-memory policy,…

We present a novel particle filtering framework for continuous-time dynamical systems with continuous-time measurements. Our approach is based on the duality between estimation and optimal control, which allows reformulating the estimation…

In this paper, we consider a class of continuous-time, continuous-space stochastic optimal control problems. Building upon recent advances in Markov chain approximation methods and sampling-based algorithms for deterministic path planning,…

Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…

Safe navigation of cluttered environments is a critical challenge in robotics. It is typically approached by separating the planning and tracking problems, with planning executed on a reduced order model to generate reference trajectories,…

This paper introduces a collision avoidance system for navigating a multicopter in cluttered outdoor environments based on the recent memory-less motion planner, rectangular pyramid partitioning using integrated depth sensors (RAPPIDS). The…

We propose a new speed and departure time optimization algorithm for the Pollution-Routing Problem (PRP), which runs in quadratic time and returns a certified optimal schedule. This algorithm is embedded into an iterated local search-based…