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Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control
(Georgia Institute of Technology, 2012-05)
Motion planners for autonomous vehicles often involve a two-level hierarchical structure consisting of a high-level, discrete planner and a low-level trajectory generation scheme. To ensure compatibility between these two ...
Optimal Motion Planning with the Half-Car Dynamical Model for Autonomous High-Speed Driving
(Georgia Institute of Technology, 2013-06)
We discuss an implementation of the RRT* optimal motion planning algorithm for the half-car dynamical model to enable autonomous high-speed driving. To develop fast solutions of the associated local steering problem, we ...
Speed Profile Optimization for Optimal Path Tracking
(Georgia Institute of Technology, 2013-06)
In this paper, we study the problem of minimum-
time, and minimum-energy speed profile optimization along a
given path, which is a key step for solving the optimal path
tracking problems for a particular class of dynamical ...
On the Generation of Nearly Optimal, Planar Paths of Bounded Curvature and Curvature Gradient
(Georgia Institute of Technology, 2009)
We present a numerically efficient scheme to generate
a family of path primitives that can be used to construct
paths that take into consideration point-wise constraints on both
the curvature and its derivative. The ...
Simultaneous Position and Attitude Control Without Linear and Angular Velocity Feedback Using Dual Quaternions
(Georgia Institute of Technology, 2013-06)
In this paper, we suggest a new representation for the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that with this representation it is relatively ...
System Integration and Operation of a Research Unmanned Aerial Vehicle
(Georgia Institute of Technology, 2004-01)
The use of flight simulation tools to reduce the schedule, risk, and required
amount of flight-testing for complex aerospace systems is a well-recognized benefit of
these approaches. However, some special challenges arise ...
Network Discovery: An Estimation Based Approach
(Georgia Institute of Technology, 2011-06)
We consider the unaddressed problem of network discovery, in which, an agent attempts to formulate an estimate of the global network topology using only locally available information. We show that under two key assumptions, ...
Use of relaxation methods in sampling-based algorithms for optimal motion planning
(Georgia Institute of Technology, 2013-05)
everal variants of incremental sampling-based algorithms have been recently proposed in order to optimally solve motion planning problems. Popular examples include the RRT* and the PRM* algorithms. These algorithms are ...
Development and Evaluation of an Automated Path Planning Aid
(Georgia Institute of Technology.American Institute of Aeronautics and Astronautics (AIAA), 2012-11)
Handling en route emergencies in modern transport aircraft through adequate teamwork between the pilot, the crew and the aircraft’s automation systems is an ongoing and active field of research. An automated path planning ...
Monocular Visual Mapping for Obstacle Avoidance on UAVs
(Georgia Institute of Technology, 2014-01)
An unmanned aerial vehicle requires adequate knowledge of its surroundings in order to operate in close proximity to obstacles. UAVs also have strict payload and power constraints which limit the number and variety of ...