Related papers: Fast Safe Rectangular Corridor-based Online AGV Tr…
This paper addresses the advancements in on-road trajectory planning for Autonomous Passenger Vehicles (APV). Trajectory planning aims to produce a globally optimal route for APVs, considering various factors such as vehicle dynamics,…
Navigation of UAVs in unknown environments with obstacles is essential for applications in disaster response and infrastructure monitoring. However, existing obstacle avoidance algorithms, such as Artificial Potential Field (APF) are unable…
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…
Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…
Aiming at an obstacle avoidance problem with dynamic constraints for Unmanned Surface Vehicle (USV), a method based on Circle Grid Trajectory Cell (CGTC) is proposed. Firstly, the ship model and standardization rules are constructed to…
Autonomous vehicles need to handle various traffic conditions and make safe and efficient decisions and maneuvers. However, on the one hand, a single optimization/sampling-based motion planner cannot efficiently generate safe trajectories…
Planning collision free trajectories in complex environments remains a core challenge in robotics. Existing corridor based planners which rely on decomposition of the free space into collision free subsets scale poorly with environmental…
One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories, making real-time trajectory optimization challenging. We…
Trajectory planning is a fundamental task on various autonomous driving platforms, such as social robotics and self-driving cars. Many trajectory planning algorithms use a reference curve based Frenet frame with time to reduce the planning…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints effectively and provide a high numerical robustness, but they…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantees and they are often tailored to specific optimal control…
As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance Systems (ADAS) primarily focus on basic tasks, leaving unexpected…
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…
We propose a method to efficiently compute the forward stochastic reach (FSR) set and its probability measure for nonlinear systems with an affine disturbance input, that is stochastic and bounded. This method is applicable to systems with…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
Reliable and efficient trajectory generation methods are a fundamental need for autonomous dynamical systems of tomorrow. The goal of this article is to provide a comprehensive tutorial of three major convex optimization-based trajectory…
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimization on these computing resources is computationally…