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This paper proposes an optimal trajectory generation framework in which the global obstacle-avoidance problem is decomposed into simpler subproblems, corresponding to distinct path homotopies. In classical approaches to homotopic trajectory planning, trajectory planning and homotopy identification are performed simultaneously, leading to a substantial computational burden. The main benefit of the...
The problem of robot navigation is treated under constraints of limited perception horizon in complex, cluttered, natural environments. We propose a solution based on our previous work in fast constrained motion planning, where arbitrary mobility constraints could be satisfied while the planning problem is reduced to unconstrained heuristic search in state lattices. By trading off optimality, we improve...
Unmanned Underwater Vehicles have gained popularity for the last decades, especially for the purpose of not risking human life in dangerous operations. On the other hand, underwater environment introduces numerous challenges in control, navigation and communication of such vehicles. Certainly, this fact makes the development of these vehicles more interesting and engineering-wise more attractive....
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