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IEEE Transactions on Automatic Control, ISSN 0018-9286, 11/2012, Volume 57, Issue 11, pp. 2817 - 2830
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 05/2001, Volume 20, Issue 5, pp. 378 - 400
This paper presents the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design). The task is to determine... 
Motion planning | Algorithms | Trajectory planning | Non-holonomic planning | Collision avoidance | PATH | algorithms | collision avoidance | ROBOTICS | motion planning | PLANE | trajectory planning | DYNAMICS | ROBOTIC MANIPULATORS | nonholonomic planning | GOOD APPROXIMATION ALGORITHMS
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 8/2013, Volume 32, Issue 9-10, pp. 1164 - 1193
Journal Article
2011 IEEE International Conference on Robotics and Automation, ISSN 1050-4729, 05/2011, pp. 1478 - 1483
The Rapidly-exploring Random Tree (RRT) algorithm, based on incremental sampling, efficiently computes motion plans. Although the RRT algorithm quickly... 
Trajectory | Planning | Heuristic algorithms | Mobile robots | Vehicle dynamics | Vehicles
Conference Proceeding
IEEE Transactions on Robotics, ISSN 1552-3098, 12/2016, Volume 32, Issue 6, pp. 1431 - 1443
This paper presents an equivalence between feasible kinodynamic planning and optimal kinodynamic planning, in that any optimal planning problem can be... 
Algorithm design and analysis | Motion planning | nonlinear control systems | Kinematics | Benchmark testing | Cost function | trajectory optimization | Trajectory | Robots | ROBOTICS | OPTIMIZATION | RRT-ASTERISK | Feasibility | Algorithms | Optimization | Robotics
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 6/2012, Volume 31, Issue 7, pp. 855 - 871
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 8/2014, Volume 33, Issue 9, pp. 1251 - 1270
We present a new optimization-based approach for robotic motion planning among obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning),... 
Motion planning | trajectory optimization | convex collision checking | sequential convex optimization | ROBOTICS | STEERABLE NEEDLES | MOBILE ROBOTS | GENERATION | 3D ENVIRONMENTS | ALGORITHMS | OBSTACLES | Usage | Convex functions | Mathematical optimization | Analysis | Robotics | Software | Algorithms | Experiments | Optimization | Convex analysis | Computational geometry | Trajectories | Convexity | Collision dynamics | Robots
Journal Article
IEEE Transactions on Robotics, ISSN 1552-3098, 08/2018, Volume 34, Issue 4, pp. 856 - 869
We describe a method for multirobot trajectory planning in known, obstacle-rich environments. We demonstrate our approach on a quadrotor swarm navigating in a... 
Schedules | unmanned aerial vehicle (UAV) | swarm | quadrotor | Multirobot systems | Collision avoidance | Vehicle dynamics | Robots | Trajectory optimization | ROBOTICS | MULTIPLE ROBOTS | LIBRARY | PATHS | COLLISION | GENERATION | ALGORITHMS | Trajectory planning | Computer simulation | Downwash | Multiple robots | Warehouses | Rotary wing aircraft | Computing time
Journal Article
IEEE Access, ISSN 2169-3536, 2014, Volume 2, pp. 56 - 77
Journal Article
2011 IEEE International Conference on Robotics and Automation, ISSN 1050-4729, 05/2011, pp. 723 - 730
In this paper we address the problem of motion planning in the presence of state uncertainty, also known as planning in belief space. The work is motivated by... 
Uncertainty | Heuristic algorithms | Trajectory | Planning | Kalman filters | Vehicle dynamics | Equations
Conference Proceeding
Trends in Cognitive Sciences, ISSN 1364-6613, 2008, Volume 12, Issue 8, pp. 291 - 297
Journal Article
49th IEEE Conference on Decision and Control (CDC), ISSN 0191-2216, 12/2010, pp. 7681 - 7687
Sampling-based algorithms such as the Rapidly-exploring Random Tree (RRT) have been recently proposed as an effective approach to computationally hard motion... 
Heuristic algorithms | Atmospheric modeling | Optimal control | Trajectory | Planning | Vehicle dynamics | Robots
Conference Proceeding
IEEE Transactions on Robotics, ISSN 1552-3098, 06/2010, Volume 26, Issue 3, pp. 469 - 482
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 04/2010, Volume 29, Issue 5, pp. 485 - 501
We describe a practical path-planning algorithm for an autonomous vehicle operating in an unknown semi-structured (or unstructured) environment, where... 
Path planning | Autonomous driving | ROBOTICS | CAR | DARPA-URBAN-CHALLENGE | MANIPULATORS | path planning | NAVIGATION | autonomous driving | SPECIAL-ISSUE | Control systems | Design and construction | Automatic guided vehicles | Analysis | Robots | Kinematics | Robotic vehicles | Trajectory planning | Task complexity | Autonomous navigation | Barriers | Parking | Product design | Planning | Vehicles | Algorithms | Sensors | Robotics
Journal Article