Related papers: Differentiable Collision-Free Parametric Corridors
We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method includes a novel exact convex partitioning of the obstacle…
Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…
A simple and reliable algorithm for collision avoidance maneuvers (CAMs), capable of computing impulsive, multi-impulsive, and low-thrust maneuvers, is proposed. The probability of collision (PoC) is approximated by a polynomial of…
Cooperative driving at signal-free intersections, which aims to improve driving safety and efficiency for connected and automated vehicles, has attracted increasing interest in recent years. However, existing cooperative driving strategies…
Polygonal collision avoidance (PCA) is short for the problem of collision avoidance between two polygons (i.e., polytopes in planar) that own their dynamic equations. This problem suffers the inherent difficulty in dealing with non-smooth…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
Understanding the geometry of collision-free configuration space (C-free) in the presence of task-space obstacles is an essential ingredient for collision-free motion planning. While it is possible to check for collisions at a point using…
The collision-free velocity model is a microscopic pedestrian model, which despite its simplicity, reproduces fairly well several self-organization phenomena in pedestrian dynamics. The model consists of two components: a direction…
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…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
Safety remains one of the most critical challenges in autonomous driving systems. In recent years, the end-to-end driving has shown great promise in advancing vehicle autonomy in a scalable manner. However, existing approaches often face…
We present a general decentralized formulation for a large class of collision avoidance methods and show that all collision avoidance methods of this form are guaranteed to be collision free. This class includes several existing algorithms…
To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…
We introduce a generalized finite difference method for solving a large range of fully nonlinear elliptic partial differential equations in three dimensions. Methods are based on Cartesian grids, augmented by additional points carefully…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
In this paper, we propose a novel optimization-based trajectory planner that utilizes spherical harmonics to estimate the collision-free solution space around an agent. The space is estimated using a constrained over-determined…
Online planning of collision-free trajectories is a fundamental task for robotics and self-driving car applications. This paper revisits collision avoidance between ellipsoidal objects using differentiable constraints. Two ellipsoids do not…
We leverage path differentiability and a recent result on nonsmooth implicit differentiation calculus to give sufficient conditions ensuring that the solution to a monotone inclusion problem will be path differentiable, with formulas for…
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, offering global optimality through its convex formulation. The safe corridor is constructed based on the…
This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…