Motion Planning around Obstacles with Convex Optimization

9 May 2022

Papers citing "Motion Planning around Obstacles with Convex Optimization"

50 / 76 papers shown

Title
Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local Adaptation Edgar Granados Sumanth Tangirala Kostas E. Bekris 35 0 0 28 Apr 2025
Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems Zhongqi Wei Xusheng Luo Changliu Liu 32 0 0 26 Apr 2025
A biconvex method for minimum-time motion planning through sequences of convex sets Tobia Marcucci Mathew Halm Will Yang Dongchan Lee Andrew D. Marchese 58 1 0 26 Apr 2025
A Complete and Bounded-Suboptimal Algorithm for a Moving Target Traveling Salesman Problem with Obstacles in 3D Anoop Bhat Geordan Gutow Bhaskar Vundurthy Z. Ren Sivakumar Rathinam Howie Choset 21 0 0 20 Apr 2025
A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling Lujie Yang Tobia Marcucci P. Parrilo Russ Tedrake 50 3 0 17 Apr 2025
Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning Peter Werner Richard Cheng Tom Stewart Russ Tedrake Daniela Rus 38 2 0 15 Apr 2025
Interior Point Differential Dynamic Programming, Redux Ming Xu Stephen Gould Iman Shames 23 0 0 11 Apr 2025
Model Predictive Control with Visibility Graphs for Humanoid Path Planning and Tracking Against Adversarial Opponents Ruochen Hou Gabriel I. Fernandez Mingzhang Zhu Dennis W. Hong 46 1 0 03 Apr 2025
Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels Adam Wei Abhinav Agarwal Boyuan Chen Rohan Bosworth Nicholas Pfaff Russ Tedrake 45 4 0 28 Mar 2025
Space-Time Graphs of Convex Sets for Multi-Robot Motion Planning Jingtao Tang Zining Mao Lufan Yang Hang Ma 37 0 0 01 Mar 2025
Sampling-Based Motion Planning with Discrete Configuration-Space Symmetries Thomas Cohn Russ Tedrake 43 0 0 01 Mar 2025
Probabilistic Bubble Roadmap Bernhard Wullt Mikael Norrlöf Per Mattsson Thomas B. Schon 42 0 0 22 Feb 2025
BoundPlanner: A convex-set-based approach to bounded manipulator trajectory planning Thies Oelerich C. Hartl-Nesic F. Beck Andreas Kugi 66 0 0 20 Feb 2025
FRTree Planner: Robot Navigation in Cluttered and Unknown Environments with Tree of Free Regions Yuan Li Zhicheng Song Chunxin Zheng Zhihai Bi Kai-Peng Chen Michael Yu Wang Jun Ma 57 1 0 17 Feb 2025
Motion planning for highly-dynamic unconditioned reflexes based on chained Signed Distance Functions Ken Lin Qi Ye Tin Lun Lam Zhibin Li Jiming Chen Gaofeng Li 59 0 0 15 Feb 2025
STITCHER: Real-Time Trajectory Planning with Motion Primitive Search Helene J. Levy Brett T. Lopez 34 1 0 31 Dec 2024
Monte Carlo Tree Search with Spectral Expansion for Planning with Dynamical Systems Benjamin Rivière John Lathrop Soon-Jo Chung 82 1 0 15 Dec 2024
Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes Noel Csomay-Shanklin William D. Compton Aaron D. Ames 71 2 0 20 Nov 2024
BOMP: Bin-Optimized Motion Planning Zachary Tam K. Dharmarajan Tianshuang Qiu Yahav Avigal Jeffrey Ichnowski Ken Goldberg 34 0 0 31 Oct 2024
Faster Algorithms for Growing Collision-Free Convex Polytopes in Robot Configuration Space Peter Werner Thomas Cohn Rebecca H. Jiang Tim Seyde Max Simchowitz Russ Tedrake Daniela Rus 29 5 0 16 Oct 2024
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes Sixu Yan Zeyu Zhang Muzhi Han Zaijin Wang Qi Xie Zhitian Li Zhehan Li Hangxin Liu Xinggang Wang Song-Chun Zhu 57 4 0 15 Oct 2024
Implicit Graph Search for Planning on Graphs of Convex Sets Ramkumar Natarajan Chaoqi Liu Howie Choset Maxim Likhachev 36 6 0 11 Oct 2024
Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization Carlos Gonzalez Luis Sentis 23 0 0 10 Oct 2024
Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions Pol Mestres Carlos Nieto-Granda Jorge Cortés 43 1 0 10 Oct 2024
Multi-Query Shortest-Path Problem in Graphs of Convex Sets Savva Morozov Tobia Marcucci Alexandre Amice B. P. Graesdal Rohan Bosworth P. Parrilo Russ Tedrake 33 4 0 29 Sep 2024
Key-Scan-Based Mobile Robot Navigation: Integrated Mapping, Planning, and Control using Graphs of Scan Regions Dharshan Bashkaran Latha Ömür Arslan 24 1 0 20 Sep 2024
Reactive Collision Avoidance for Safe Agile Navigation Alessandro Saviolo Niko Picello Rishabh Verma Giuseppe Loianno Giuseppe Loianno 35 0 0 18 Sep 2024
Rigid Body Path Planning using Mixed-Integer Linear Programming Mingxin Yu Chuchu Fan 26 0 0 17 Sep 2024
P2 Explore: Efficient Exploration in Unknown Cluttered Environment with Floor Plan Prediction Kun Song Gaoming Chen Masayoshi Tomizuka Wei Zhan Zhenhua Xiong Mingyu Ding 33 0 0 17 Sep 2024
Efficient Multi-agent Navigation with Lightweight DRL Policy Xingrong Diao Jiankun Wang 56 0 0 29 Aug 2024
Safe Bubble Cover for Motion Planning on Distance Fields Ki Myung Brian Lee Zhirui Dai Cedric Le Gentil Lan Wu Nikolay Atanasov Teresa Vidal-Calleja 33 3 0 23 Aug 2024
Ten Problems in Geobotics Mikkel Abrahamsen Dan Halperin 36 0 0 22 Aug 2024
Probabilistic Homotopy Optimization for Dynamic Motion Planning Shayan Pardis Matthew Chignoli Sangbae Kim 38 0 0 22 Aug 2024
NAS: N-step computation of All Solutions to the footstep planning problem Jiayi Wang Saeid Samadi Hefan Wang Pierre Fernbach O. Stasse S. Vijayakumar Steve Tonneau 42 0 0 17 Jul 2024
GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets S. Y. C. Chia Rebecca H. Jiang B. P. Graesdal L. Kaelbling Russ Tedrake 46 9 0 11 Jul 2024
Fast and Certifiable Trajectory Optimization Shucheng Kang Xiaoyang Xu Jay Sarva Ling Liang Heng Yang 51 8 0 09 Jun 2024
Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization Frederike Dumbgen Connor T. Holmes Timothy D. Barfoot 46 1 0 04 Jun 2024
Accelerate Hybrid Model Predictive Control using Generalized Benders Decomposition Xuan Lin AI4CE 31 1 0 02 Jun 2024
Mobile Robot Sensory Coverage in 2-D Environments: An Optimization Approach with Efficiency Bounds E. Fourney J. W. Burdick E. D. Rimon 24 1 0 23 May 2024
Integrating Uncertainty-Aware Human Motion Prediction into Graph-Based Manipulator Motion Planning Wansong Liu Kareem A. Eltouny Sibo Tian Xiao Liang Minghui Zheng 40 1 0 16 May 2024
KG-Planner: Knowledge-Informed Graph Neural Planning for Collaborative Manipulators Wansong Liu Kareem A. Eltouny Sibo Tian Xiao Liang Minghui Zheng 24 4 0 13 May 2024
Logic-Skill Programming: An Optimization-based Approach to Sequential Skill Planning Teng Xue Amirreza Razmjoo Suhan Shetty Sylvain Calinon 32 4 0 07 May 2024
A Long-Short-Term Mixed-Integer Formulation for Highway Lane Change Planning Rudolf Reiter Armin Nurkanovic Daniele Bernadini Moritz Diehl Alberto Bemporad 30 0 0 05 May 2024
A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators Zehui Lu Yebin Wang 32 3 0 01 May 2024
Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications Josefine B. Graebener Apurva Badithela Denizalp Goktas Wyatt Ubellacker Eric V. Mazumdar Aaron D. Ames Richard M. Murray 32 2 0 15 Apr 2024
Toward Holistic Planning and Control Optimization for Dual-Arm Rearrangement Kai-Xin Gao Zihe Ye Duo Zhang Baichuan Huang Jingjin Yu 30 2 0 10 Apr 2024
Collision-Free Trajectory Optimization in Cluttered Environments with Sums-of-Squares Programming Yuling Li Chunxin Zheng Kai Chen Yusen Xie Xindong Tang Michael Yu Wang Jun Ma 30 0 0 08 Apr 2024
Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences Yorai Shaoul Itamar Mishani Maxim Likhachev Jiaoyang Li 24 4 0 29 Mar 2024
Hierarchical Deep Learning for Intention Estimation of Teleoperation Manipulation in Assembly Tasks Mingyu Cai Karankumar Patel Soshi Iba Songpo Li 31 1 0 28 Mar 2024
PAAMP: Polytopic Action-Set And Motion Planning For Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming Akshay Jaitly Siavash Farzan 23 1 0 16 Mar 2024