Related papers: Real-Time Quad-Rotor Path Planning Using Convex Op…
Safety is a critical concern for the success of urban air mobility, especially in dynamic and uncertain environments. This paper proposes a path planning algorithm based on RRT in conjunction with chance constraints in the presence of…
We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predictions capture the uncertainty of urban driving in distinct…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, making them prohibitively costly for real-time applications. In…
Nonlinear Model Predictive Control (NMPC) is widely used for controlling high-speed robotic systems such as quadrotors. However, its significant computational demands often hinder real-time feasibility and reliability, particularly in…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Traffic congestion has lead to an increasing emphasis on management measures for a more efficient utilization of existing infrastructure. In this context, this paper proposes a novel framework that integrates real-time optimization of…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
Quadrotors are agile flying robots that are challenging to control. Considering the full dynamics of quadrotors during motion planning is crucial to achieving good solution quality and small tracking errors during flight. Optimization-based…
This work presents a convex optimization framework for the planning and tracking of quadcopter trajectories with continuous-time safety guarantees. Using B-spline basis functions and the differential flatness property of quadcopters, a…
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…
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 study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks effectively decompose MRMP into single-robot subproblems,…
We propose a new proximal, path-following framework for a class of constrained convex problems. We consider settings where the nonlinear---and possibly non-smooth---objective part is endowed with a proximity operator, and the constraint set…
Convex optimization methods are employed to optimize a real-time (RT) system-on-chip (SoC) under a variety of physical resource-driven constraints, demonstrated on an industry MPEG2 encoder SoC. The power optimization is compared to…
One of the critical challenges in infrastructural constructions is designing and planning operations and their related resources. The complex interlinked composition of different factors and variables affecting resource productivity has…
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, offering global optimality through its convex formulation. The safe corridor is constructed based on the…