22 citations · 30 across the 10 of their papers we have counts for
7 papers · 1 filter
Model predictive trajectory optimization and tracking for on-road autonomous vehicles
Peng Liu, Brian Paden, Umit Ozguner
Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking contro…
The Generalized Label Correcting Method for Optimal Kinodynamic Motion Planning
Brian Paden
Nearly all autonomous robotic systems use some form of motion planning to compute reference motions through their environment. An increasing use of autonomous robots in a broad ran…
Landmark Guided Probabilistic Roadmap Queries
Brian Paden, Yannik Nager, Emilio Frazzoli
A landmark based heuristic is investigated for reducing query phase run-time of the probabilistic roadmap (\PRM) motion planning method. The heuristic is generated by storing minim…
Design of Admissible Heuristics for Kinodynamic Motion Planning via Sum-of-Squares Programming
Brian Paden, Valerio Varriccho, Emilio Frazzoli
How does one obtain an admissible heuristic for a kinodynamic motion planning problem? This paper develops the analytical tools and techniques to answer this question. A sufficient…
Selection of Input Primitives for the Generalized Label Correcting Method
Brian Paden, Emilio Frazzoli
The generalized label correcting method is an efficient search-based approach to trajectory optimization. It relies on a finite set of control primitives that are concatenated into…
A Generalized Label Correcting Method for Optimal Kinodynamic Motion Planning
Brian Paden, Emilio Frazzoli
A resolution complete optimal kinodynamic motion planning algorithm is presented and described as a generalized label correcting (GLC) method. In contrast to related algorithms, th…
A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles
Brian Paden, Michal Cap, Sze Zheng Yong +2
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportat…