3 papers
cs.RO2026
Trajectory Bundle Method in SE(3) for Black-Box Fixed-Wing Aircraft Trajectory Optimization
Matthew D. Osburn, Cameron K. Peterson, John L. Salmon
Dynamically feasible trajectory optimization for rigid-body systems is naturally formulated on the special Euclidean group SE(3) but is challenging when dynamics are available only…
cs.RO2026
Task Allocation and Motion Planning in Dynamic, Cluttered Environments via CBBA and Graphs of Convex Sets
Matthew D. Osburn, Cameron K. Peterson, John L. Salmon
Multi-agent task planning in cluttered, dynamic environments requires assigning tasks to agents while simultaneously determining safe, time-efficient trajectories through the envir…
cs.RO2025
Systematic Constraint Formulation and Collision-Free Trajectory Planning Using Space-Time Graphs of Convex Sets
Matthew D. Osburn, Cameron K. Peterson, John L. Salmon
In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an init…