51 citations · 196 across the 44 of their papers we have counts for
4 papers · 1 filter
Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks: a Contraction Theory Approach
Sumeet Singh, Edward Schmerling, Marco Pavone
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit a…
An Asymptotically-Optimal Sampling-Based Algorithm for Bi-directional Motion Planning
Joseph A. Starek, Javier V. Gomez, Edward Schmerling +3
Bi-directional search is a widely used strategy to increase the success and convergence rates of sampling-based motion planning algorithms. Yet, few results are available that merg…
A Convex Optimization Approach to Smooth Trajectories for Motion Planning with Car-Like Robots
Zhijie Zhu, Edward Schmerling, Marco Pavone
In the recent past, several sampling-based algorithms have been proposed to compute trajectories that are collision-free and dynamically-feasible. However, the outputs of such algo…
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…