Related papers: Time-optimal Convexified Reeds-Shepp Paths on a Sp…

An algorithm for planning near time-optimal trajectories for systems with an oscillatory internal dynamics has been developed in previous work. It is based on assembling a complete trajectory from motion primitives called jerk segments,…

Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…

First-order methods with momentum such as Nesterov's fast gradient method are very useful for convex optimization problems, but can exhibit undesirable oscillations yielding slow convergence rates for some applications. An adaptive…

This paper presents a framework to jointly optimize the design and control of an electric race car equipped with a multiple-gear transmission, specifically accounting for the discrete gearshift dynamics. We formulate the problem as a…

Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex. We consider a variant of this classical problem in which the position of each…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…

This paper presents a convex optimization framework to compute the minimum-lap-time control strategies of all-wheel drive (AWD) battery electric race cars, accounting for the grip limitations of the individual tyres. Specifically, we first…

Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many…

Non-linear Trajectory Optimisation (TO) methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to complete. However for…

An algorithm is developed to optimize vehicle speed trajectory over multiple signalized intersections with known traffic signal information to minimize fuel consumption and travel time, and to meet ride comfort requirements using sequential…

In this paper we address the speed planning problem for a vehicle along a predefined path. A weighted sum of two conflicting objectives, energy consumption and travel time, is minimized. After deriving a non-convex mathematical model of the…

This paper investigates the problem of computing the shortest path between two states under resource constraints in environments with resource-replenishment regions. Namely, the length of the path is limited by a budget that can be restored…

We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…

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…

Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…

Real-time motion planning is a vital function of robotic systems. Different from existing roadmap algorithms which first determine the free space and then determine the collision-free path, researchers recently proposed several convex…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

This paper investigates the planning and control for accurate positioning of car-like robots. We propose a solution that integrates two modules: a motion planner, facilitated by the rapidly-exploring random tree algorithm and…

This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…

This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…