Related papers: Trajectory Optimization for Curvature Bounded Non-…
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…
An algorithm is developed to optimize vehicle speed trajectory over multiple signalized intersections with known traffic signal information to minimize fuel consumption and travel time, and to meet ride comfort requirements using sequential…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
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…
Drift control is significant to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow. It is a challenging control problem due to the presence of significant sideslip and…
Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…
This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring to stabilise and drive the vehicle in evasive manoeuvres at…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
This paper presents a numerical solver for computing continuous trajectories in non-convex environments. Our approach relies on a customized implementation of the Alternating Direction Method of Multipliers (ADMM) built upon two key…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
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…
The objective function used in trajectory optimization is often non-convex and can have an infinite set of local optima. In such cases, there are diverse solutions to perform a given task. Although there are a few methods to find multiple…
Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…
Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible to view task constrained motion planning as an optimization…
In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…
Autonomous driving has a natural bi-level structure. The goal of the upper behavioural layer is to provide appropriate lane change, speeding up, and braking decisions to optimize a given driving task. However, this layer can only indirectly…
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…
We present a novel class of robots belonging to Constrained Collaborative Mobile Agents (CCMA) family which consists of ground mobile bases with non-holonomic constraints. Moreover, these mobile robots are constrained by closed-loop…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Reliable and efficient trajectory generation methods are a fundamental need for autonomous dynamical systems of tomorrow. The goal of this article is to provide a comprehensive tutorial of three major convex optimization-based trajectory…