86 citations · 92 across the 8 of their papers we have counts for
8 papers
Online Generation of Collision-Free Trajectories in Dynamic Environments
Nermin Covic, Bakir Lacevic
In this paper, we present an online method for converting an arbitrary geometric path, represented by a sequence of states, and generated by any planner (e.g., sampling-based plann…
Search-Based Robot Motion Planning With Distance-Based Adaptive Motion Primitives
Benjamin Kraljusic, Zlatan Ajanovic, Nermin Covic +1
This work proposes a motion planning algorithm for robotic manipulators that combines sampling-based and search-based planning methods. The core contribution of the proposed approa…
Real-Time Sampling-Based Safe Motion Planning for Robotic Manipulators in Dynamic Environments
Nermin Covic, Bakir Lacevic, Dinko Osmankovic +1
In this paper, we present the main features of Dynamic Rapidly-exploring Generalized Bur Tree (DRGBT) algorithm, a sampling-based planner for dynamic environments. We provide a det…
SLOPE: Search with Learned Optimal Pruning-based Expansion
Davor Bokan, Zlatan Ajanovic, Bakir Lacevic
Heuristic search is often used for motion planning and pathfinding problems, for finding the shortest path in a graph while also promising completeness and optimal efficiency. The…
Octocopter Design: Modelling, Control and Motion Planning
Nedim Osmic, Adnan Tahirovic, Bakir Lacevic
This book provides a solution to the control and motion planning design for an octocopter system. It includes a particular choice of control and motion planning algorithms which is…
A novel approach to model exploration for value function learning
Zlatan Ajanovic, Halil Beglerovic, Bakir Lacevic
Planning and Learning are complementary approaches. Planning relies on deliberative reasoning about the current state and sequence of future reachable states to solve the problem.…
Safe learning-based optimal motion planning for automated driving
Zlatan Ajanovic, Bakir Lacevic, Georg Stettinger +2
This paper presents preliminary work on learning the search heuristic for the optimal motion planning for automated driving in urban traffic. Previous work considered search-based…
Search-based optimal motion planning for automated driving
Zlatan Ajanovic, Bakir Lacevic, Barys Shyrokau +2
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of se…