Related papers: Calculation of time-optimal motion primitives for …
In this work, we address the problem of computation time for trajectory generation in quadrotors. Most trajectory generation methods for waypoint navigation of quadrotors, for example minimum snap/jerk and minimum-time, are structured as…
This paper proposes the theoretical grounds for emulating the Dynamic System Optimum with desired arrival times on regional networks, using aggregated traffic dynamics based on the Macroscopic Fundamental Diagram. We used a projection…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
We consider the optimization of a dynamical system by switching at discrete time points between abstract evolution equations composed by nonlinearly perturbed strongly continuous semigroups, nonlinear state reset maps at mode transition…
It is well known that conservative mechanical systems exhibit local oscillatory behaviours due to their elastic and gravitational potentials, which completely characterise these periodic motions together with the inertial properties of the…
This paper presents an optimal motion planning framework to generate versatile energy-optimal quadrupedal jumping motions automatically (e.g., flips, spin). The jumping motions via the centroidal dynamics are formulated as a 12-dimensional…
We present new algorithms and fast implementations to find efficient approximations for modelling stochastic processes. For many numerical computations it is essential to develop finite approximations for stochastic processes. While the…
We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that…
We provide several quantum algorithms for continuous optimization that do not require gradient estimation. Instead, we encode the optimization problem into the dynamics of a physical system and coherently simulate the time evolution. We…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
Motion planning is still an open problem for many disciplines, e.g., robotics, autonomous driving, due to their need for high computational resources that hinder real-time, efficient decision-making. A class of methods striving to provide…
This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…
We present Ruckig, an algorithm for Online Trajectory Generation (OTG) respecting third-order constraints and complete kinematic target states. Given any initial state of a system with multiple Degrees of Freedom (DoFs), Ruckig calculates a…
This paper considers an optimal impulse control problem of dynamical systems generated by a flow. The performance criteria are total costs over the infinite time horizon. Apart from the main performance to be minimized, there are multiple…
Solving optimal control problems (OCPs) of autonomous agents operating under spatial and temporal constraints fast and accurately is essential in applications ranging from eco-driving of autonomous vehicles to quadrotor navigation. However,…
This paper presents a novel framework for Jacobian computation in motion optimization problems involving multi-link systems, where physical quantities are represented using higher-order time derivatives. In motion optimization of robots and…
A major limitation of online algorithms that track the optimizers of time-varying nonconvex optimization problems is that they focus on a specific local minimum trajectory, which may lead to poor spurious local solutions. In this paper, we…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…
Momentum methods play a significant role in optimization. Examples include Nesterov's accelerated gradient method and the conditional gradient algorithm. Several momentum methods are provably optimal under standard oracle models, and all…