Related papers: Time-Optimal Trajectory Planning in Highway Scenar…
We establish a linear programming formulation for the solution of joint chance constrained optimal control problems over finite time horizons. The joint chance constraint may represent an invariance, reachability or reach-avoid…
Coverage motion planning is essential to a wide range of robotic tasks. Unlike conventional motion planning problems, which reason over temporal sequences of states, coverage motion planning requires reasoning over the spatial distribution…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
Motion planning can be cast as a trajectory optimisation problem where a cost is minimised as a function of the trajectory being generated. In complex environments with several obstacles and complicated geometry, this optimisation problem…
Trajectory planning in automated driving typically focuses on satisfying safety and comfort requirements within the vehicle's onboard sensor range. This paper introduces a method that leverages anticipatory road data, such as speed limits,…
Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
This paper revisits the parametric analysis of semidefinite optimization problems with respect to the perturbation of the objective function along a fixed direction. We review the notions of invariancy set, nonlinearity interval, and…
We study feedback motion planning for continuous-time stochastic nonlinear systems under signal temporal logic (STL) specifications. We propose a framework that synthesizes control policies for chance-constrained STL trajectory optimization…
We introduce a model of infinite horizon linear dynamic optimization with linear constraints and obtain results concerning feasibility of trajectories and optimal solutions necessarily satisfying conditions that resemble the Euler condition…
Skyline queries are one of the most widely adopted tools for Multi-Criteria Analysis, with applications covering diverse domains, including, e.g., Database Systems, Data Mining, and Decision Making. Skylines indeed offer a useful overview…
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
For discrete time nonlinear systems satisfying an exponential or finite time controllability assumption, we present an analytical formula for a suboptimality estimate for model predictive control schemes without stabilizing terminal…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
This paper deals with time-optimal control of nonlinear continuous-time systems based on direct collocation. The underlying discretization grid is variable in time, as the time intervals are subject to optimization. This technique differs…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Efficient and safe trajectory planning plays a critical role in the application of quadrotor unmanned aerial vehicles. Currently, the inherent trade-off between constraint compliance and computational efficiency enhancement in UAV…
We present a method to solve planning problems involving sequential decision making in unpredictable environments while accomplishing a high level task specification expressed using the formalism of linear temporal logic. Our method…