Efficient Constrained Path Planning via Search in State Lattices

By Mihail Pivtoraiko, Alonzo James Kelly. 2005

159 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

1. Ekim Yurtsever
2. Jacob Lambert
3. Alexander Carballo
4. David Sierra González
5. Thomas M. Howard
6. Kazuya Takeda
7. Joshué Pérez
8. Vicente Milanés Montero

Citations in the corpus

• A Survey of Autonomous Driving: Common Practices and Emerging Technologies (2019, methodology): “Graph search Dijkstra [250], A* [245], State lattice [251] Slow and jerky”
• A Review of Motion Planning Techniques for Automated Vehicles (2016, background): “This grid is referred as state lattice over of which the motion planning search is applied [46].”
• Real-time motion planning methods for autonomous on-road driving: State-of-the-art and future research directions (2015, background): “State Lattices can be seen as a generalisation of grids (Pivtoraiko and Kelly, 2005).”
• Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots (2007, methodology): “It can be used as a mechanism to encode the connectivity of state space in lattice-like networks as in Pivtoraiko and Kelly (2005).”