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math.OC2023
Is time-optimal speed planning under jerk constraints a convex problem?
Luca Consolini, Marco Locatelli
We consider the speed planning problem for a vehicle moving along an assigned trajectory, under maximum speed, tangential and lateral acceleration, and jerk constraints. The proble…
math.OC2023★ 5 cited
Local Optimization of MAPF solutions on Directed Graphs
S. Ardizzoni, I. Saccani, L. Consolini +1
Among sub-optimal MAPF solvers, rule-based algorithms are particularly appealing since they are complete. Even in crowded scenarios, they allow finding a feasible solution that bri…