5 papers · 1 filter
Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization
Akshay Jaitly, Devesh K. Jha, Kei Ota +1
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However,…
Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions
Akshay Jaitly, Jon Arrizabalaga, Guanrui Li
Planning collision free trajectories in complex environments remains a core challenge in robotics. Existing corridor based planners which rely on decomposition of the free space in…
A MILP-Based Solution to Multi-Agent Motion Planning and Collision Avoidance in Constrained Environments
Akshay Jaitly, Jack Cline, Siavash Farzan
We propose a mixed-integer linear program (MILP) for multi-agent motion planning that embeds Polytopic Action-based Motion Planning (PAAMP) into a sequence-then-solve pipeline. Reg…
Galileo: A Pseudospectral Collocation Framework for Legged Robots
Ethan Chandler, Akshay Jaitly, Mahdi Agheli
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization fra…
PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming
Akshay Jaitly, Siavash Farzan
Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods o…