3 papers
cs.RO2016
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…
cs.RO2016
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…
cs.RO2016
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…