65 citations · 100 across the 3 of their papers we have counts for
4 papers
Square Root Gauss-Newton iLQR
Maximilian Haas-Heger, Jur van den Berg
The iterative Linear Quadratic Regulator (iLQR) is a widely used algorithm for nonlinear trajectory optimization. At each iteration, it solves a local linear-quadratic approximatio…
Lane-Level Route Planning for Autonomous Vehicles
Mitchell Jones, Maximilian Haas-Heger, Jur van den Berg
We present an algorithm that, given a representation of a road network in lane-level detail, computes a route that minimizes the expected cost to reach a given destination. In doin…
3-D Reciprocal Collision Avoidance on Physical Quadrotor Helicopters with On-Board Sensing for Relative Positioning
Parker Conroy, Daman Bareiss, Matt Beall +1
In this paper, we present an implementation of 3-D reciprocal collision avoidance on real quadrotor helicopters where each quadrotor senses the relative position and velocity of ot…
Kinodynamic RRT*: Optimal Motion Planning for Systems with Linear Differential Constraints
Dustin J. Webb, Jur van den Berg
We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints. Our approach extends…