A survey of motion planning and control techniques for self-driving urban vehicles
Self-driving vehicles are a maturing technology with the potential to reshape mobility by
enhancing the safety, accessibility, efficiency, and convenience of automotive transportation …
enhancing the safety, accessibility, efficiency, and convenience of automotive transportation …
[PDF][PDF] Geometric Shortest Paths and Network Optimization.
JSB Mitchell - Handbook of computational geometry, 2000 - Citeseer
A natural and well-studied problem in algorithmic graph theory and network optimization is
that of computing a\shortest path" between two nodes, s and t, in a graph whose edges …
that of computing a\shortest path" between two nodes, s and t, in a graph whose edges …
[BOOK][B] Visibility algorithms in the plane
SK Ghosh - 2007 - books.google.com
A human observer can effortlessly identify visible portions of geometric objects present in the
environment. However, computations of visible portions of objects from a viewpoint involving …
environment. However, computations of visible portions of objects from a viewpoint involving …
Time-optimal paths for a Dubins airplane
We consider finding a time-optimal trajectory for an airplane from some starting point and
orientation to some final point and orientation. Our model extends the Dubins car by LE …
orientation to some final point and orientation. Our model extends the Dubins car by LE …
Shortest paths and networks
JSB Mitchell - Handbook of discrete and computational …, 2017 - api.taylorfrancis.com
Handbook of DISCRETE AND COMPUTATIONAL GEOMETRY Page 1 i “K25063” — 2017/9/15
— 18:58 — page 811 — i i i 31 SHORTEST PATHS AND NETWORKS Joseph SB Mitchell …
— 18:58 — page 811 — i i i 31 SHORTEST PATHS AND NETWORKS Joseph SB Mitchell …
The stochastic motion roadmap: A sampling framework for planning with Markov motion uncertainty
We present a new motion planning framework that explicitly considers uncertainty in robot
motion to maximize the probability of avoiding collisions and successfully reaching a goal. In …
motion to maximize the probability of avoiding collisions and successfully reaching a goal. In …
Motion planning under uncertainty for image-guided medical needle steering
We develop a new motion planning algorithm for a variant of a Dubins car with binary
left/right steering and apply it to steerable needles, a new class of flexible bevel-tip medical …
left/right steering and apply it to steerable needles, a new class of flexible bevel-tip medical …
Multi-UAV convoy protection: An optimal approach to path planning and coordination
XC Ding, AR Rahmani… - IEEE transactions on …, 2010 - ieeexplore.ieee.org
In this paper, we study the problem of controlling a group of unmanned aerial vehicles
(UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled …
(UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled …
T: Time-Optimal Risk-Aware Motion Planning for Curvature-Constrained Vehicles
This letter addresses the time-optimal risk-aware motion planning problem for curvature-
constrained variable-speed vehicles in the presence of obstacles. To the best of our …
constrained variable-speed vehicles in the presence of obstacles. To the best of our …
Algorithmic motion planning
Motion planning is a fundamental problem in robotics. It comes in a variety of forms, but the
simplest version is as follows. We are given a robot system B, which may consist of several …
simplest version is as follows. We are given a robot system B, which may consist of several …