Kinodynamic RRT*: Optimal Motion Planning for Systems with Linear Differential Constraints

23 May 2012

Papers citing "Kinodynamic RRT*: Optimal Motion Planning for Systems with Linear Differential Constraints"

29 / 29 papers shown

Title
$FMT$^{x}$: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning$ FMT $^{x}$ : An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning Soheil Espahbodini Nia 64 0 0 10 Sep 2025
Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees Yaniv Hassidof Tom Jurgenson Kiril Solovey 150 1 0 28 Aug 2025
On Kinodynamic Global Planning in a Simplicial Complex Environment: A Mixed Integer ApproachMechanism and Machine Theory (Mech. Mach. Theory), 2025 Otobong Jerome Alexandr Klimchik Alexander Maloletov Geesara Kulathunga 63 2 0 22 Aug 2025
Spatially-Enhanced Recurrent Memory for Long-Range Mapless Navigation via End-to-End Reinforcement Learning Fan Yang Per Frivik David Hoeller Chen Wang Cesar Cadena Marco Hutter 238 0 0 06 Jun 2025
RRT* Based Optimal Trajectory Generation with Linear Temporal Logic Specifications under Kinodynamic Constraints Saksham Gautam Ratnangshu Das Pushpak Jagtap 71 0 0 09 Nov 2024
Motion Planning for Robotics: A Review for Sampling-based PlannersBiomimetic Intelligence and Robotics (BIR), 2024 Liding Zhang Kuanqi Cai Zewei Sun Zhenshan Bing Chaoqun Wang Luis F. C. Figueredo Sami Haddadin Alois C. Knoll 228 40 0 25 Oct 2024
Leveraging Swarm Intelligence to Drive Autonomously: A Particle Swarm Optimization based Approach to Motion Planning Sven Ochs Jens Doll Marc Heinrich Philip Schorner Sebastian Klemm M. Zofka J. M. Zöllner 141 5 0 03 Apr 2024
A Semi-Lagrangian Approach for Time and Energy Path Planning Optimization in Static Flow Fields V. C. D. S. Campos Armando A. Neto D. Macharet 274 1 0 25 Mar 2024
Boundary-Aware Value Function Generation for Safe Stochastic Motion Planning Junhong Xu Kai-Li Yin Jason M. Gregory Kris Hauser Lantao Liu 229 3 0 22 Mar 2024
Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics Steve Macenski Matthew Booker Joshua Wallace Tobias Fischer 209 14 0 23 Jan 2024
Scalable Multi-Robot Motion Planning Using Workspace Guidance-Informed Hypergraphs C. McBeth James Motes Isaac Ngui M. Morales Nancy M. Amato 232 0 0 16 Nov 2023
iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion PlanningIEEE Transactions on robotics (TRO), 2023 Joaquim Ortiz de Haro Wolfgang Hoenig Valentin N. Hartmann Marc Toussaint 228 15 0 06 Nov 2023
Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered EnvironmentsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Khaled Wahba Joaquim Ortiz de Haro Marc Toussaint Wolfgang Hönig 214 6 0 05 Oct 2023
MAPS $^2$ : Multi-Robot Autonomous Motion Planning under Signal Temporal Logic Specifications Mayank Sewlia Christos K. Verginis Dimos V. Dimarogonas 152 0 0 11 Sep 2023
Automaton-Guided Control Synthesis for Signal Temporal Logic SpecificationsIEEE Conference on Decision and Control (CDC), 2022 Qi Heng Ho Roland Ilyes Zachary Sunberg Morteza Lahijanian 198 9 0 08 Jul 2022
Kernel-based diffusion approximated Markov decision processes for autonomous navigation and control on unstructured terrains Junhong Xu Kai-Li Yin Zheng Chen Jason M. Gregory Ethan Stump Lantao Liu 262 4 0 16 Nov 2021
Improved Soft Duplicate Detection in Search-Based Motion PlanningIEEE International Conference on Robotics and Automation (ICRA), 2021 Nader Maray Anirudh Vemula Maxim Likhachev 109 2 0 25 Sep 2021
Robust & Asymptotically Locally Optimal UAV-Trajectory Generation Based on Spline SubdivisionIEEE International Conference on Robotics and Automation (ICRA), 2020 Ruiqi Ni T. Schneider Daniele Panozzo Zherong Pan Xifeng Gao 193 13 0 19 Oct 2020
Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown EnvironmentsIEEE Transactions on Automation Science and Engineering (T-ASE), 2020 Éric Pairet J. D. Hernández M. Carreras Y. Pétillot Morteza Lahijanian 220 45 0 26 Apr 2020
Revisiting the Asymptotic Optimality of RRT $^*$ IEEE International Conference on Robotics and Automation (ICRA), 2019 Kiril Solovey Lucas Janson Edward Schmerling Emilio Frazzoli Marco Pavone 243 45 0 20 Sep 2019
Fast Motion Planning for High-DOF Robot Systems Using Hierarchical System Identification Biao Jia Zherong Pan Tianyi Zhou 263 6 0 21 Sep 2018
Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies Lucas Janson Tommy Hu Marco Pavone 146 43 0 16 Apr 2018
Data-driven Policy Transfer with Imprecise Perception Simulation M. Pecka Karel Zimmermann Matěj Petrlík Tomáš Svoboda 182 11 0 05 Apr 2018
Flight Dynamics-based Recovery of a UAV Trajectory using Ground Cameras Artem Rozantsev Sudipta N. Sinha Debadeepta Dey Pascal Fua 179 31 0 01 Dec 2016
Real-Time Stochastic Kinodynamic Motion Planning via Multiobjective Search on GPUs Brian Ichter Edward Schmerling Ali-akbar Agha-mohammadi Marco Pavone 160 20 0 23 Jul 2016
Rearrangement Planning via Heuristic Search Jennifer E. King S. Srinivasa 66 1 0 29 Mar 2016
A Convex Optimization Approach to Smooth Trajectories for Motion Planning with Car-Like RobotsIEEE Conference on Decision and Control (CDC), 2015 Zhijie Zhu Edward Schmerling Marco Pavone 202 119 0 02 Jun 2015
Optimal Sampling-Based Motion Planning under Differential Constraints: the Drift Case with Linear Affine DynamicsIEEE Conference on Decision and Control (CDC), 2014 Edward Schmerling Lucas Janson Marco Pavone 363 54 0 28 May 2014
Optimal Sampling-Based Motion Planning under Differential Constraints: the Driftless CaseIEEE International Conference on Robotics and Automation (ICRA), 2014 Edward Schmerling Lucas Janson Marco Pavone 240 82 0 11 Mar 2014