相关论文: Generating Minimum-Snap Quadrotor Trajectories Rea…

The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…

Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…

Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…

In autonomous systems, a motion planner generates reference trajectories which are tracked by a low-level controller. For safe operation, the motion planner should account for inevitable controller tracking error when generating avoidance…

An algorithm for the generation of shuttling sequences is necessary for the operation of a linear segmented ion-trap quantum computer. The present work provides an implementation of an algorithm that produces sequences proved to be optimal…

We present a modular Bayesian optimization framework that efficiently generates time-optimal trajectories for a cooperative multi-agent system, such as a team of UAVs. Existing methods for multi-agent trajectory generation often rely on…

Over the past decade, there has been a remarkable surge in utilizing quadrotors for various purposes due to their simple structure and aggressive maneuverability, such as search and rescue, delivery and autonomous drone racing, etc. One of…

Answering exact shortest path distance queries is a fundamental task in graph theory. Despite a tremendous amount of research on the subject, there is still no satisfactory solution that can scale to billion-scale complex networks.…

We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…

Trajectory tracking control for quadrotors is important for applications ranging from surveying and inspection, to film making. However, designing and tuning classical controllers, such as proportional-integral-derivative (PID) controllers,…

Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…

Software is now so large and complex that additional architecture is needed to guide theorem provers as they try to generate test suites. For example, the SNAP test suite generator (introduced in this paper) combines the Z3 theorem prover…

\textbf{Objective: }To develop a real-time method for designing gradient waveforms for arbitrary $k$-space trajectories that are time-optimal and hardware-compliant. \textbf{Methods: }The gradient waveform is solved recursively under both…

We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable…

We propose a new algorithm for generating custom network traffic matrices which achieves 13x, 38x, and 70x faster generation times than prior work on networks with 64, 256, and 1024 nodes respectively.

Computing shortest paths is a fundamental primitive for several social network applications including socially-sensitive ranking, location-aware search, social auctions and social network privacy. Since these applications compute paths in…

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…

For real applications of unmanned aerial vehicles, the capability of navigating with full autonomy in unknown environments is a crucial requirement. However, planning a shorter path with less computing time is contradictory. To address this…

Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…

Recurrent Neural Networks (RNNs) can encode rich dynamics which makes them suitable for modeling dynamic systems. To train an RNN for multi-step prediction of dynamic systems, it is crucial to efficiently address the state initialization…