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A major challenge in autonomous driving is designing control architectures that guarantee safety in all relevant driving scenarios. Given a safe desired reference trajectory for the vehicle, a trajectory following controller has to ensure…
This paper addresses the challenge of accommodating nonlinear dynamics and constraints in rapid trajectory optimization, envisioned for use in the context of onboard guidance. We present a novel framework that uniquely employs…
This paper proposes a data-driven motion-planning framework for nonlinear systems that constructs a sequence of overlapping invariant polytopes. Around each randomly sampled waypoint, the algorithm identifies a convex admissible region and…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
We present a method for contraction-based feedback motion planning of locally incrementally exponentially stabilizable systems with unknown dynamics that provides probabilistic safety and reachability guarantees. Given a dynamics dataset,…
To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…
Online trajectory planning enables robot manipulators to react quickly to changing environments or tasks. Many robot trajectory planners exist for known environments but are often too slow for online computations. Current methods in online…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
Safe and smooth robot motion around obstacles is an essential skill for autonomous robots, especially when operating around people and other robots. Conventionally, due to real-time operation requirements and onboard computation…
Autonomous satellite servicing missions must execute close-range rendezvous under stringent safety and operational constraints while remaining computationally tractable for onboard use and robust to uncertainty in sensing, actuation, and…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation…
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…
This work proposes an algorithm to bound the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do…
As a simple and robust mobile robot base, differential drive robots that can be modelled as a kinematic unicycle find significant applications in logistics and service robotics in both industrial and domestic settings. Safe robot navigation…
This paper proposes a nonlinear guidance algorithm for fuel-optimal impulsive trajectories for rendezvous operations close to a reference orbit. The approach involves overparameterized monomial coordinates and a high-order approximation of…
This paper explores transverse coordinates for the purpose of orbitally stabilizing periodic motions of nonlinear, control-affine dynamical systems. It is shown that the dynamics of any (minimal or excessive) set of transverse coordinates,…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
This paper investigates first-order variable metric backward forward dynamical systems associated with monotone inclusion and convex minimization problems in real Hilbert space. The operators are chosen so that the backward-forward…