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insight - Motion Planning
A Framework for Guided Motion Planning: Formalizing and Evaluating Heuristic Biases in Sampling-Based Algorithms
Guided motion planning formalizes the intuitive notion of guided search by defining the concept of a guiding space, which encapsulates many seemingly distinct prior methods under the same framework. It provides a new information-theoretic method to evaluate the quality of guidance, which matches intuition when tested on known algorithms in various environments.
Dubins Vehicle with Controllable Laser Motion Planning Study
Dubins-Laser system optimal trajectory analysis.
Shortest Trajectory of a Dubins Vehicle with a Controllable Laser Analysis
Formulating optimal motion planning for Dubins-Laser system.
Progressive Smoothing for Motion Planning in Real-Time NMPC: A Novel Approach
The author proposes a novel progressive smoothing scheme for obstacle avoidance in real-time NMPC, outperforming traditional formulations and improving performance indicators without increasing computation time.