Real-time motion planning for agile autonomous vehicles

By Emilio Frazzoli, Munther A. Dahleh, Eric M. Feron. Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148), 2000

1,024 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition

View Paper: https://www.semanticscholar.org/paper/62113b0fcb182853446679430aaefa9c367fe438

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In Aerospace Engineering

In Computer Vision and Pattern Recognition

Citations in the corpus

TerraMax™: Team Oshkosh urban robot (2008, methodology): “The module was based on the rapidly exploring random tree (RRT) algorithm ( Frazzoli, Dahleh, & Feron, 2002 ), where the tree of trajectories was grown by sampling numerous configurations randomly.”
Incremental Sampling-based Algorithms for Optimal Motion Planning (2010, methodology): “In particular, RRTs have been shown to work effectively for systems with differential constraints, nonlinear dynamics, and non-holonomic constraints [18], [35] as well as purely discrete or hybrid systems [36].”
Approaches for heuristically biasing RRT growth (2003, background): “Frazzoli adapted RRTs for real time planning for an autonomous helicopter operating in the presence of moving obstacles [ 3 ].”
Closed-Loop Dynamics of Cooperative Vehicle Formations With Parallel Estimators and Communication (2007, background): “A wide variety of performance requirements can be considered, from collective group behaviors (see, for example, [1]–[3]), to cooperative task allocation and path planning (see, for example, [4]–[6]), to precisely controlled coordination [7].”
Motion planning for urban driving using RRT (2008, methodology): “The algorithm has two connection heuristics, as introduced in [10].”
Robust hybrid control for autonomous vehicle motion planning (2000, positive): “The architecture presented in this paper has been used to develop computationally e cient, real-time motion planning algorithms for agile autonomous vehicles [8, 9].”
Differentially constrained mobile robot motion planning in state lattices (2009, methodology): “…of regular search spaces (Branicky et al., 2001; Donald & Xavier, 1995), methods of sampling of relevant state variables of the robot (Barraquand & Latombe, 1991), and recent research on inverse trajectory generation (Frazzoli et al., 2001; Howard & Kelly, 2007; Scheuer and Laugier, 1998).”
Autonomous Vehicle Technologies for Small Fixed-Wing UAVs (2003, neutral): “u̇ = −g sin θ +Ax + vr − wq (4) v̇ = g sinφ cos θ +Ay − wr + wp (5) ẇ = g cosφ cos θ +Az + uq − vp (6)”
Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline Parametrization (2014, background): “Such is the case in [17], where the authors combined the methodologies presented in [18] and [19] and developed a path-planning strategy, which smooths an optimal sequence of waypoints in 3-”
Geometrically Constrained Trajectory Optimization for Multicopters (2021, background): “Both of them are probabilistically complete (Kavraki et al. 1998; Frazzoli et al. 2002) since their probability of failure decays to zero exponentially as the sample number goes to infinity.”
Real-Time Motion Planning With Applications to Autonomous Urban Driving (2009, background): “In [13], when the propagated trajectory is not collision-free, the entire trajectory is discarded.”
A Practical Visual Servo Control for an Unmanned Aerial Vehicle (2008, neutral): “Finally Section VII provides some concluding remarks.”
Maneuver-based motion planning for nonlinear systems with symmetries (2005, methodology): “The planner in [13] used 625 primitives, while maintaining real-time computation capabilities.”