相关论文: Calculation of time-optimal motion primitives for …
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…
We propose a novel method for planning shortest length piecewise-linear motions through complex environments punctured with static, moving, or even morphing obstacles. Using a moment optimization approach, we formulate a hierarchy of…
We present a framework wherein the trajectory optimization problem (or a problem involving calculus of variations) is formulated as a search problem in a discrete space. A distinctive feature of our work is the treatment of discretization…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
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…
Estimation of model parameters in a dynamic system can be significantly improved with the choice of experimental trajectory. For general, nonlinear dynamic systems, finding globally "best" trajectories is typically not feasible; however,…
This paper presents a noval method that generates optimal trajectories for autonomous vehicles for in-lane driving scenarios. The method computes a trajectory using a two-phase optimization procedure. In the first phase, the optimization…
Real-time kinodynamic trajectory planning in dynamic environments is critical yet challenging for autonomous driving. In this letter, we propose an efficient trajectory planning system for autonomous driving in complex dynamic scenarios…
Node connectivity plays a central role in temporal network analysis. We provide a comprehensive study of various concepts of walks in temporal graphs, that is, graphs with fixed vertex sets but edge sets changing over time. Taking into…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
We present an efficient transcription method for highly oscillatory optimal control problems. For these problems, the optimal state trajectory consists of fast oscillations that change slowly over the time horizon. Out of a large number of…
The need for fast and robust optimization algorithms are of critical importance in all areas of machine learning. This paper treats the task of designing optimization algorithms as an optimal control problem. Using regret as a metric for an…
Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a…
A new algorithm for numerical integration of the rigid-body equations of motion is proposed. The algorithm uses the leapfrog scheme and the quantities involved are angular velocities and orientational variables which can be expressed in…
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…
Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles,…
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…
Considering uncertainties and disturbances is an important, yet challenging, step in successful decision making. The problem becomes more challenging in safety-constrained environments. In this paper, we propose a robust and safe trajectory…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…
We present a novel methodology for convex optimization algorithm design using ideas from electric RLC circuits. Given an optimization problem, the first stage of the methodology is to design an appropriate electric circuit whose…