4 papers · 1 filter
ADMM-based Continuous Trajectory Optimization in Graphs of Convex Sets
Lukas Pries, Jon Arrizabalaga, Zachary Manchester +1
This paper presents a numerical solver for computing continuous trajectories in non-convex environments. Our approach relies on a customized implementation of the Alternating Direc…
A Universal Formulation for Path-Parametric Planning and Control
Jon Arrizabalaga, ZbynÄk Å ÃR, Zachary Manchester +1
We present a unified framework for path-parametric planning and control. This formulation is universal as it standardizes the entire spectrum of path-parametric techniques -- from…
PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System
Jon Arrizabalaga, Fausto Vega, ZbynÄk Å ÃR +2
This paper presents PHODCOS, an algorithm that assigns a moving coordinate system to a given curve. The parametric functions underlying the coordinate system, i.e., the path functi…
Differentiable Collision-Free Parametric Corridors
Jon Arrizabalaga, Zachary Manchester, Markus Ryll
This paper presents a method to compute differentiable collision-free parametric corridors. In contrast to existing solutions that decompose the obstacle-free space into multiple c…