9 citations · 15 across the 4 of their papers we have counts for
4 papers · 1 filter
Map-Predictive Motion Planning in Unknown Environments
Amine Elhafsi, Boris Ivanovic, Lucas Janson +1
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods…
Revisiting the Asymptotic Optimality of RRT
Kiril Solovey, Lucas Janson, Edward Schmerling +2
RRT* is one of the most widely used sampling-based algorithms for asymptotically-optimal motion planning. This algorithm laid the foundations for optimality in motion planning as a…
Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies
Lucas Janson, Tommy Hu, Marco Pavone
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incr…
Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty
Lucas Janson, Edward Schmerling, Marco Pavone
This article presents a novel approach, named MCMP (Monte Carlo Motion Planning), to the problem of motion planning under uncertainty, i.e., to the problem of computing a low-cost…