Vehicles that cross lanes of traffic encounter the problem of navigating around dynamic
obstacles under actuation constraints. This paper presents an optimal, exact, polynomial …

Motion planning for mobile vehicles involves the solution of two disparate subproblems: the
satisfaction of high-level logical task specifications and the design of low-level vehicle …

In this paper, we present a novel convex optimization approach to address the minimum-
time speed planning problem over a fixed path with dynamic obstacle constraints and point …

This letter presents a hierarchical motion planner for generating smooth and feasible
trajectories for autonomous vehicles in unstructured environments with static and moving …

Many path-finding algorithms on graphs such as A* are sped up by using a heuristic function
that gives lower bounds on the cost to reach the goal. Aiming to apply similar techniques to …

The nonlinear vehicle dynamics and the non-convexity of collision avoidance constraints
pose major challenges for optimization-based trajectory planning of automated vehicles …

Providing safety guarantees for autonomous vehicle navigation is an ultimate goal for
motion planning in dynamic environments. However, due to factors such as robot and …

We present POMP (Pareto Optimal Motion Planner), an anytime algorithm for geometric path
planning on roadmaps. For robots with several degrees of freedom, collision checks are …

This paper considers the problem of optimal trajectory generation for autonomous driving
under both continuous and logical constraints. Classical approaches based on continuous …

This paper presents Tiji, a trajectory generation scheme, ie an algorithm that computes a
feasible trajectory between a start and a goal state, for a given robotic system. Tiji is geared …