Related papers: Explicit Time-Optimal Speed Profiles for Planar Pa…
Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning…
A bounded curvature path is a continuously differentiable piece-wise $C^2$ path with bounded absolute curvature connecting two points in the tangent bundle of a surface. These paths have been widely considered in computer science and…
In this paper we consider shortest path problems in a directed graph where the transitions between nodes are subject to uncertainty. We use a minimax formulation, where the objective is to guarantee that a special destination state is…
Trajectory planning for autonomous cars can be addressed by primitive-based methods, which encode nonlinear dynamical system behavior into automata. In this paper, we focus on optimal trajectory planning. Since, typically, multiple criteria…
The class of linear pentapods with a simple singularity variety is obtained by imposing architectural restrictions on the design in such a way that the manipulators singularity variety is linear in orientation position variables. It turns…
Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…
In this paper we address the speed planning problem for a vehicle along a predefined path. A weighted average of two (conflicting) terms, energy consumption and travel time, is minimized. After deriving a non-convex mathematical model of…
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…
Two-stage methods addressing continuous shortest path problems start local minimization from discrete shortest paths in a spatial graph. The convergence of such hybrid methods to global minimizers hinges on the discretization error induced…
In this paper we show all possible ramps where an object can move with constant speed under the effect of gravity and friction. The planar ramp are very easy to describe, just rotate a curve with velocity vector (tanh(as),sech(as)). Recall…
Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined…
Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…
We obtain an optimal estimate for the extrinsic curvature of an entire minimal graph in $\H^2\times\R$, $\H^2$ the hyperbolic plane.
This work studies path planning in two-dimensional space, in the presence of polygonal obstacles. We specifically address the problem of building a roadmap graph, that is, an abstract representation of all the paths that can potentially be…
Abstract: we present a framework for robust autonomous driving motion planning system in urban environments which includes trajectory refinement, trajectory interpolation, avoidance of static and dynamic obstacles, and trajectory tracking.…
In this paper we address the speed planning problem for a vehicle along a predefined path. A weighted sum of two conflicting objectives, energy consumption and travel time, is minimized. After deriving a non-convex mathematical model of the…
Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…
We provide simple necessary and sufficient conditions under which a path constitutes a solution to an infinite-horizon, continuous-time optimal control problem. We prove transversality conditions under standard assumptions. We also present…
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.…