Related papers: Deferred-Decision Trajectory Optimization
This paper considers a trajectory planning problem for a robot navigating complex terrains, which arises in applications ranging from autonomous mining vehicles to planetary rovers. The problem seeks to find a low-cost dynamically feasible…
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…
This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed…
Swarm trajectory optimization problems are a well-recognized class of multi-agent optimal control problems with strong nonlinearity. However, the heuristic nature of needing to set the final time for agents beforehand and the time-consuming…
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…
Trajectory optimization is a fundamental stochastic optimal control problem. This paper deals with a trajectory optimization approach for dynamical systems subject to measurement noise that can be fitted into linear time-varying stochastic…
This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…
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…
In this paper, we introduce DynaRetarget, a complete pipeline for retargeting human motions to humanoid control policies. The core component of DynaRetarget is a novel Sampling-Based Trajectory Optimization (SBTO) framework that refines…
Differential dynamic programming (DDP) is a widely used and powerful trajectory optimization technique, however, due to its internal structure, it is not exempt from local minima. In this paper, we present Differential Dynamic Programming…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
Data driven methods for time series forecasting that quantify uncertainty open new important possibilities for robot tasks with hard real time constraints, allowing the robot system to make decisions that trade off between reaction time and…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
With autonomous aerial vehicles enacting safety-critical missions, such as the Mars Science Laboratory Curiosity rover's landing on Mars, the tasks of automatically identifying and reasoning about potentially hazardous landing sites is…
Complex dexterous manipulations require switching between prehensile and non-prehensile grasps, and sliding and pivoting the object against the environment. This paper presents a manipulation planner that is able to reason about diverse…
Signal Temporal Logic (STL) has gained popularity in recent years as a specification language for cyber-physical systems, especially in robotics. Beyond being expressive and easy to understand, STL is appealing because the synthesis…
This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), the control objective is to synthesize a finite-memory policy,…
We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…