1 citations · 4 across the 10 of their papers we have counts for
10 papers
Batch Informed Trees (BIT*)
James Swedeen, Greg Droge
Path planning through complex obstacle spaces is a fundamental requirement of many mobile robot applications. Recently a rapid convergence path planning algorithm, Batch Informed T…
Fillet-based RRT*: A Rapid Convergence Implementation of RRT* for Curvature Constrained Vehicles
James Swedeen, Greg Droge, Randall Christensen
Rapidly exploring random trees (RRTs) have proven effective in quickly finding feasible solutions to complex motion planning problems. RRT* is an extension of the RRT algorithm tha…
Path Planning with Uncertainty for Aircraft Under Threat of Detection from Ground-Based Radar
Austin Costley, Greg Droge, Randall Christensen +2
Mission planners for aircraft operating under threat of detection by ground-based radar systems are concerned with the probability of detection. Current path planning methods for s…
Sensitivity of Single-Pulse Radar Detection to Radar State Uncertainty
Austin Costley, Randall Christensen, Robert C. Leishman +1
Mission planners for aircraft operating under threat of detection from ground-based radar systems are often concerned with the probability of detection. Current approaches to path…
Sensitivity of Single-Pulse Radar Detection to Aircraft Pose Uncertainties
Austin Costley, Randall Christensen, Greg Droge +1
Mission planners for aircraft that operate in radar detection environments are often concerned the probability of detection. The probability of detection is a nonlinear function of…
Analytical Aircraft State and IMU Signal Generator from Smoothed Reference Trajectory
Austin Costley, Randall Christensen, Robert C. Leishman +1
This work presents a method for generating position, attitude, and velocity states for an aircraft following a smoothed reference trajectory. The method also generates acceleromete…
A Closed-Loop Linear Covariance Framework for Vehicle Path Planning in a Static Uncertain Obstacle Fiel
Randall Christensen, Greg Droge, Robert Leishman
Path planning in an uncertain environment is a key enabler of true vehicle autonomy. Over the past two decades, numerous approaches have been developed to account for errors in the…
Zero-Error Tracking for Autonomous Vehicles through Epsilon-Trajectory Generation
Clint Ferrin, Greg Droge, Randall Christensen
This paper presents a control method and trajectory planner for vehicles with first-order nonholonomic constraints that guarantee asymptotic convergence to a time-indexed trajector…
Dual-mode Dynamic Window Approach to Robot Navigation with Convergence Guarantees
Greg Droge
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This…
Continuous-time Proportional-Integral Distributed Optimization for Networked Systems
Greg Droge, Hiroaki Kawashima, Magnus Egerstedt
In this paper we explore the relationship between dual decomposition and the consensus-based method for distributed optimization. The relationship is developed by examining the sim…