Related papers: Online Time-Optimal Trajectory Planning on Three-D…
Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-dimensional system dynamics.…
Conventional trajectory planning approaches for autonomous vehicles often assume a fixed vehicle model that remains constant regardless of the vehicle's location. This overlooks the critical fact that the tires and the surface are the two…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have…
In the racetrack acceleration model, proposed by Martin Gardner in 1973, each step consists of changing the position of the vehicle by a vector in $\mathbb{Z}^2$, with the constraints that two consecutive vectors differ by at most one unit…
The trajectory planning problem (TPP) has become increasingly crucial in the research of next-generation transportation systems, but it presents challenges due to the non-linearity of its constraints. One specific case within TPP, namely…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
Presented is a method to compute certain classes of Hamilton-Jacobi equations that result from optimal control and trajectory generation problems with time delays. Many robotic control and trajectory problems have limited information of the…
We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…
In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's…
Increasing attention to autonomous passenger vehicles has also attracted interest in an autonomous racing series. Because of this, platforms such as Roborace and the Indy Autonomous Challenge are currently evolving. Electric racecars face…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…
This paper presents a unified planning-control strategy for competing with other racing cars called IteraOptiRacing in autonomous racing environments. This unified strategy is proposed based on Iterative Linear Quadratic Regulator for…
Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In…
A novel local trajectory planner, capable of controlling an autonomous off-road vehicle on rugged terrain at high-speed is presented. Autonomous vehicles are currently unable to safely operate off-road at high-speed, as current approaches…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…