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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.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…