Related papers: Safe and Efficient Trajectory Optimization for Aut…
Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free trajectories. A layered motion planning approach with decoupled path and speed planning is widely used for this purpose. This approach is prone…
In this paper, we present the methodology and results for a real-time velocity trajectory optimization for a solar-powered autonomous surface vessel (ASV), where we combine indirect optimal control techniques with iterative learning. The…
We propose a novel method for fitting planar B-spline curves to unorganized data points. In traditional methods, optimization of control points and foot points are performed in two very time-consuming steps in each iteration: 1) control…
Powered descent guidance (PDG) problems subject to six-degrees-of-freedom (6DOF) dynamics allow for enforcement of practical attitude constraints. However, numerical solutions to 6DOF PDG problems are challenging due to fast rotational…
Optimizing k-space sampling trajectories is a promising yet challenging topic for fast magnetic resonance imaging (MRI). This work proposes to optimize a reconstruction method and sampling trajectories jointly concerning image…
Structural dimensional inspection is vital for the process monitoring, quality control, and fault diagnosis in the mass production of auto bodies. Comparing with the non-contact measurement, the high-precision five-axis measuring machine…
Autonomous driving has garnered significant attention for its potential to improve safety, traffic efficiency, and user convenience. However, the dynamic and complex nature of interactive driving poses significant challenges, including 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…
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose.…
Particle tracing through numerical integration is a well-known approach to generating pathlines for visualization. However, for particle simulations, the computation of pathlines is expensive, since the interpolation method is complicated…
For driving safely and efficiently in highway scenarios, autonomous vehicles (AVs) must be able to predict future behaviors of surrounding object vehicles (OVs), and assess collision risk accurately for reasonable decision-making. Aiming at…
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…
Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this paper proposes a novel autonomous path planning algorithm…
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for…
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…
The conventional Artificial Potential Field (APF) is fundamentally limited by the local minima issue and its inability to account for the kinematics of moving obstacles. This paper addresses the critical challenge of autonomous collision…
Preliminary mission design requires an efficient and accurate approximation to the low-thrust rendezvous trajectories, which might be generally three-dimensional and involve multiple revolutions. In this paper, a new shaping method using…
In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs). Current trajectory generation methods for multicopters achieve high success rates in cluttered environments, but assume that the…
Autonomous driving requires accurate reasoning of the location of objects from raw sensor data. Recent end-to-end learning methods go from raw sensor data to a trajectory output via Bird's Eye View(BEV) segmentation as an interpretable…
Self-driving vehicles (SDVs) hold great potential for improving traffic safety and are poised to positively affect the quality of life of millions of people. To unlock this potential one of the critical aspects of the autonomous technology…