Related papers: On Kinodynamic Global Planning in a Simplicial Com…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear…
Autonomous vehicle (AV) motion planning problems often involve non-convex constraints, which present a major barrier to applying model predictive control (MPC) in real time on embedded hardware. This paper presents an approach for…
This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
Search-based techniques have shown great success in motion planning problems such as robotic navigation by discretizing the state space and precomputing motion primitives. However in domains with complex dynamic constraints, constructing…
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from intuitive human strategies and are typically inefficient. To…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…
Anytime sampling-based methods are an attractive technique for solving kino-dynamic motion planning problems. These algorithms scale well to higher dimensions and can efficiently handle state and control constraints. However, an intelligent…
Online planning and execution of minimum-time maneuvers on three-dimensional (3D) circuits is an open challenge in autonomous vehicle racing. In this paper, we present an artificial race driver (ARD) to learn the vehicle dynamics, plan and…
This paper presents methods for dramatically improving the performance of sampling-based kinodynamic planners. The key component is the first-known complete, exact steering method that produces a time-optimal trajectory between any states…
We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfully perform this task, the robot needs to (i) detect the…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…