Related papers: Explicit Time-Optimal Speed Profiles for Planar Pa…
A family of plane oriented continuous paths depending on a fixed real positive number $R$ is considered. For any point $x$ on the path, the previous points lie out of any circle of radius $R$ having at $x$ interior normal in a suitable…
Sampling-based motion planners have proven to be efficient solutions to a variety of high-dimensional, geometrically complex motion planning problems with applications in several domains. The traditional view of these approaches is that…
We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
We consider the problem of finding curves of minimum pointwise-maximum curvature, i.e., curves of minimax curvature, among planar curves of fixed length with prescribed endpoints and tangents at the endpoints. We reformulate the problem in…
Safe trajectory planning for high-performance automated vehicles in an environment with both static and moving obstacles is a challenging problem. Part of the challenge is developing a formulation that can be solved in real-time while…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…
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…
A geometric framework for metrics of maximal acceleration which is applicable to large proper accelerations is discussed, including a theory of connections associated with the geometry of maximal acceleration. In such a framework it is…
Finding the Time-Optimal Parameterization of a given Path (TOPP) subject to kinodynamic constraints is an essential component in many robotic theories and applications. The objective of this article is to provide a general, fast and robust…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
Accurate mass estimation is essential for the safe and efficient operation of autonomous heavy-duty vehicles, particularly during transportation missions in unstructured environments such as mining sites, where vehicle mass can vary…
We present a configurable trajectory planning strategy on planar paths for offline definition of time-dependent C2 piecewise quintic feedrates. The more conservative formulation ensures chord tolerance, as well as prescribed bounds on…
For the classical N-body problem, an approach is proposed based on the introduction of some natural in the physical sense optimization problems of mathematical programming for finding a conditional minimum for the characteristics of the…
This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…
For two points $p$ and $q$ in the plane, a straight line $h$, called a highway, and a real $v>1$, we define the \emph{travel time} (also known as the \emph{city distance}) from $p$ and $q$ to be the time needed to traverse a quickest path…
Quantum speed limit focuses on the minimum time scale for a fixed mission and hence is important in quantum information where fast dynamics is usually beneficial. Most existing tools for the depiction of quantum speed limit are the…
This work presents an online velocity planner for autonomous racing that adapts to changing dynamic constraints, such as grip variations from tire temperature changes and rubber accumulation. The method combines a forward-backward solver…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…