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This paper describes an algorithm for robotic motion planning that is capable of optimising several cost functions simultaneously to provide optimised, feasible and collision-free paths. The algorithm is based on the best-first graph search algorithm using a Pareto frontier to evaluate costs at each node. Additionally, we include a calculation of the distribution of robot trajectories when the path...
This paper proposes a differential flatness-based method for maneuvering a quadrotor so that its position follows a specified velocity vector field. Existing planning and control algorithms often give a 2D or 3D velocity vector field to be followed by a robot. However, quadrotors have complex nonlinear dynamics that make vector field following difficult, especially in aggressive maneuvering regimes...
There are many applications where topology constraints are useful in trajectory generation for mobile robots. In this paper we present a method to generate an optimal trajectory restricted to a particular homology class. The optimality is achieved by formulating the trajectory generation problem as a Mixed-Integer Quadratic Program (MIQP). We introduce binary variables that not only encode information...
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