Related papers: Time-Optimal Trajectory Planning in Highway Scenar…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
This paper proposes a two-stage approach to formulate the time-optimal point-to-point motion planning problem, involving a first stage with a fixed time grid and a second stage with a variable time grid. The proposed approach brings…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
In this article, we discuss two algorithms tailored to discrete-time deterministic finite-horizon nonlinear optimal control problems or so-called deterministic trajectory optimization problems. Both algorithms can be derived from an…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…
Recent road trials have shown that guaranteeing the safety of driving decisions is essential for the wider adoption of autonomous vehicle technology. One promising direction is to pose safety requirements as planning constraints in…
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…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
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 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 proposes a novel and efficient optimization-based method for generating near time-optimal trajectories for holonomic vehicles navigating through complex but structured environments. The approach aims to solve the problem of…
We propose a sampling-based trajectory optimization methodology for constrained problems. We extend recent works on stochastic search to deal with box control constraints,as well as nonlinear state constraints for discrete dynamical…
Many nonlinear optimal control and optimization problems involve constraints that combine continuous dynamics with discrete logic conditions. Standard approaches typically rely on mixed-integer programming, which introduces scalability…
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration…
The problem of monotone smoothing splines with bounds is formulated as a constrained minimization problem of the calculus of variations. Existence and uniqueness of solutions of this problem is proved, as well as the equivalence of it to a…
Minimum-time speed profiles are constructed for planar paths with smooth strictly-monotonic signed curvature, subject to constraints on velocity, normal acceleration and tangential acceleration. The construction is explicit and exact, and…
Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the unpredictable motions of moving obstacles and the curse of dimensionality from the state-time space. Existing state-time planners…
This paper develops a physics-informed scenario approach for safety verification of nonlinear systems using barrier certificates (BCs) to ensure that system trajectories remain within safe regions over an infinite time horizon. Designing…