This paper presents a tutorial overview of path integral (PI) approaches for stochastic
optimal control and trajectory optimization. We concisely summarize the theoretical …

Autonomous vehicles are rapidly advancing and have the potential to revolutionize
transportation in the future. This paper primarily focuses on vehicle motion trajectory …

Trajectory planning is one of the indispensable and critical components in robotics and
autonomous systems. As an efficient indirect method to deal with the nonlinear system …

This article proposes two decentralized multiagent optimal control methods that combine the
computational efficiency and scalability of differential dynamic programming (DDP) and the …

Abstract Effective Human–Robot Interaction (HRI) is crucial for future service robots in aging
societies. Existing solutions are biased towards only well-trained objects, creating a gap …

In this article, the problem of autonomous vehicle trajectory optimization with flexible final
time is concerned under the consideration of stochastic disturbances. Stochastic differential …

In this paper, we propose a cost-effective strategy for heterogeneous UAV swarm systems
for cooperative aerial inspection. Unlike previous swarm inspection works, the proposed …

In this paper, we introduce the Global Multi-Phase Path Planning () algorithm in planner
problems, which computes fast and feasible trajectories in environments with obstacles …

In urban environments, the path planning of unmanned aerial vehicles (UAVs) presents
significant challenges, particularly since they are tasked with executing various operations in …