Optimal Motion Planning
1 papers with code • 0 benchmarks • 0 datasets
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Latest papers with no code
Optimal Motion Planning using Finite Fourier Series in a Learning-based Collision Field
This paper utilizes finite Fourier series to represent a time-continuous motion and proposes a novel planning method that adjusts the motion harmonics of each manipulator joint.
qRRT: Quality-Biased Incremental RRT for Optimal Motion Planning in Non-Holonomic Systems
This paper presents a sampling-based method for optimal motion planning in non-holonomic systems in the absence of known cost functions.
T$^{\star}$-Lite: A Fast Time-Risk Optimal Motion Planning Algorithm for Multi-Speed Autonomous Vehicles
In this paper, we develop a new algorithm, called T$^{\star}$-Lite, that enables fast time-risk optimal motion planning for variable-speed autonomous vehicles.
Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems
The Info-SNOC algorithm is used to compute a sub-optimal pool of safe motion plans that aid in exploration for learning unknown residual dynamics under safety constraints.
Combining Subgoal Graphs with Reinforcement Learning to Build a Rational Pathfinder
The first advantage of the proposed method is that SSG can solve the limitations of sparse reward and local minima trap for RL agents; thus, LSPI can be used to generate paths in complex environments.
Safe learning-based optimal motion planning for automated driving
This paper presents preliminary work on learning the search heuristic for the optimal motion planning for automated driving in urban traffic.
A novel model-based heuristic for energy optimal motion planning for automated driving
Although planning of an optimal trajectory is done in a systematic way, dynamic programming does not use any knowledge about the considered problem to guide the exploration and therefore explores all possible trajectories.
Intelligent bidirectional rapidly-exploring random trees for optimal motion planning in complex cluttered environments
Moreover, experimental results demonstrate the superior efficiency of IB-RRT* in comparison with RRT* and B-RRT in complex cluttered environments.
