Optimization-based automatic docking and berthing of ASVs using exteroceptive sensors: Theory and experiments
Docking of autonomous surface vehicles (ASVs) involves intricate maneuvering at low
speeds under the influence of unknown environmental forces, and is often a challenging …
speeds under the influence of unknown environmental forces, and is often a challenging …
Embodied footprints: A safety-guaranteed collision-avoidance model for numerical optimization-based trajectory planning
Optimization-based methods are commonly applied in autonomous driving trajectory
planners, which transform the continuous-time trajectory planning problem into a finite …
planners, which transform the continuous-time trajectory planning problem into a finite …
Computation of solution spaces for optimization-based trajectory planning
L Schäfer, S Manzinger, M Althoff - IEEE Transactions on …, 2021 - ieeexplore.ieee.org
The nonlinear vehicle dynamics and the non-convexity of collision avoidance constraints
pose major challenges for optimization-based trajectory planning of automated vehicles …
pose major challenges for optimization-based trajectory planning of automated vehicles …
Proactive model predictive control with multi-modal human motion prediction in cluttered dynamic environments
For robots navigating in dynamic environments, exploiting and understanding uncertain
human motion prediction is key to generate efficient, safe and legible actions. The robot may …
human motion prediction is key to generate efficient, safe and legible actions. The robot may …
An optimization-based motion planner for autonomous maneuvering of marine vessels in complex environments
The task of maneuvering ships in confined environments is a difficult task for a human
operator. One major reason is due to the complex and slow dynamics of the ship which need …
operator. One major reason is due to the complex and slow dynamics of the ship which need …
Dynamic collision and deadlock avoidance for multiple robotic manipulators
N Gafur, G Kanagalingam, A Wagner… - IEEE Access, 2022 - ieeexplore.ieee.org
A flexible operation of multiple robotic manipulators operating in a dynamic environment
requires online trajectory planning to ensure collision-free trajectories. In this work, we …
requires online trajectory planning to ensure collision-free trajectories. In this work, we …
Optimal model-based trajectory planning with static polygonal constraints
The main contribution of this article is a novel method for planning globally optimal
trajectories for dynamical systems subject to polygonal constraints. The proposed method is …
trajectories for dynamical systems subject to polygonal constraints. The proposed method is …
Dual collision detection in model predictive control including culling techniques
An optimization-based approach for collision avoidance of fully dimensional autonomous
vehicles in confined environments is considered. We discuss the dual re-formulations of …
vehicles in confined environments is considered. We discuss the dual re-formulations of …
Deep reinforcement learning based robot navigation in dynamic environments using occupancy values of motion primitives
This paper presents a Deep Reinforcement Learning based navigation approach in which
we define the occu-pancy observations as heuristic evaluations of motion primitives, rather …
we define the occu-pancy observations as heuristic evaluations of motion primitives, rather …
On the dual implementation of collision-avoidance constraints in path-following MPC for underactuated surface vessels
A path-following collision-avoidance model predictive control (MPC) method is proposed
which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured …
which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured …