Related papers: A biconvex method for minimum-time motion planning…
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…
We propose a two phase time dependent vehicle routing and scheduling optimization model that identifies the safest routes, as a substitute for the classical objectives given in the literature such as shortest distance or travel time,…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
This paper considers unconstrained convex optimization problems with time-varying objective functions. We propose algorithms with a discrete time-sampling scheme to find and track the solution trajectory based on prediction and correction…
This paper addresses constrained smooth saddle-point problems in settings where projection onto the feasible sets is computationally expensive. We bridge the gap between projection-based and projection-free optimization by introducing a…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
We consider simple bilevel optimization problems where the goal is to compute among the optimal solutions of a composite convex optimization problem, one that minimizes a secondary objective function. Our main contribution is threefold. (i)…
This paper presents a novel methodology for solving the time-optimal trajectory optimization problem for interplanetary solar-sail missions using successive convex programming. Based on the non-convex problem, different convexification…
To generate safe and real-time trajectories for an autonomous vehicle in dynamic environments, path and speed decoupled planning methods are often considered. This paper studies speed planning, which mainly deals with dynamic obstacle…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
We present a batch trajectory optimizer that can simultaneously solve hundreds of different instances of the problem in real-time. We consider holonomic robots but relax the assumption of circular base footprint. Our main algorithmic…
In this paper we analyze several new methods for solving nonconvex optimization problems with the objective function formed as a sum of two terms: one is nonconvex and smooth, and another is convex but simple and its structure is known.…
In this paper, we propose a novel trajectory optimization algorithm for mobile manipulators under end-effector path, collision avoidance and various kinematic constraints. Our key contribution lies in showing how this highly non-linear and…
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
We provide a solution method for the polyhedral convex set optimization problem, that is, the problem to minimize a set-valued mapping with polyhedral convex graph with respect to a set ordering relation which is generated by a polyhedral…
This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive…
In this paper, we study spline trajectory generation via the solution of two optimisation problems: (i) a quadratic program (QP) with linear equality constraints and (ii) a nonlinear and nonconvex optimisation program. We propose an…