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Planning locally optimal, curvature-constrained trajectories in 3D using sequential convex optimization

Yan Duan, Sachin Patil, John Schulman, Ken Goldberg, Pieter Abbeel
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
In this work, we present a motion planning technique using sequential convex optimization for computing locally optimal, curvature-constrained trajectories to desired targets while avoiding obstacles in  ...  3D curvature-constrained motion planning finds applications in a wide variety of domains, including motion planning for flexible, bevel-tip medical needles, planning curvature-constrained channels in 3D  ...  ACKNOWLEDGMENTS This research has been funded in part by NSF under award #1227536.  ... 
doi:10.1109/icra.2014.6907726 dblp:conf/icra/DuanPSGA14 fatcat:vyosc36imbbnpirt5uk4miuana

Motion planning with sequential convex optimization and convex collision checking

John Schulman, Yan Duan, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow, Jia Pan, Sachin Patil, Ken Goldberg, Pieter Abbeel
2014 The international journal of robotics research  
We also apply TrajOpt to plan curvature-constrained steerable needle trajectories in the SE(3) configuration space and multiple non-intersecting curved channels within 3D-printed implants for intracavitary  ...  At the core of our approach are (i) a sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases the penalty coefficients in an outer loop as necessary, and (ii  ...  This research was supported in part by the National Science  ... 
doi:10.1177/0278364914528132 fatcat:dgobvp74yzfc5c66ax3kuqkgx4

Planning Curvature and Torsion Constrained Ribbons in 3D With Application to Intracavitary Brachytherapy

Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg
2015 IEEE Transactions on Automation Science and Engineering  
In the second stage, we locally optimize the curvature and torsion along each ribbon using sequential quadratic programming (SQP).  ...  We consider the problem of planning multiple disjoint and collision-free ribbons of finite thickness along curvature and torsion constrained curves in 3D space.  ...  Acknowledgments This research has been funded in part by AFOSR-YIP Award #FA9550-12-1-0345, by NSF under award IIS-1227536, by a DARPA Young Faculty Award #D13AP00046, CITRIS Seed Grant, and by a Sloan  ... 
doi:10.1109/tase.2015.2475121 fatcat:hcdighca2vdfxf5ck3zk6adjza

Retrospective in silico evaluation of optimized preoperative planning for temporal bone surgery

Johannes Fauser, Simon Bohlender, Igor Stenin, Julia Kristin, Thomas Klenzner, Jörg Schipper, Anirban Mukhopadhyay
2020 International Journal of Computer Assisted Radiology and Surgery  
For nonlinear trajectory planning, we adapt bidirectional rapidly exploring random trees on Bézier Splines followed by sequential convex optimization.  ...  Our experiments show that the automated segmentation provides safe and coherent surface models that can be used in collision detection during motion planning.  ...  For subsequent computation of nonlinear trajectories, we adopt our sequential convex optimization (SCO) approach of [9] to generate locally optimal solutions.  ... 
doi:10.1007/s11548-020-02270-4 pmid:33040277 fatcat:2353v45qzbfvxpfibgakqml5ne

Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy [chapter]

Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg
2015 Springer Tracts in Advanced Robotics  
In the second stage, we locally optimize the curvature and torsion along each ribbon using sequential quadratic programming (SQP).  ...  We consider the problem of planning multiple disjoint and collision-free ribbons of finite thickness along curvature and torsion constrained curves in 3D space.  ...  Conclusion In this work, we posed the problem of planning curvature and torsion constrained ribbons that avoid collisions with obstacles in 3D environments.  ... 
doi:10.1007/978-3-319-16595-0_31 fatcat:swahso4co5gy7mljd7qybhinvm

Automating multi-throw multilateral surgical suturing with a mechanical needle guide and sequential convex optimization

Siddarth Sen, Animesh Garg, David V. Gealy, Stephen McKinley, Yiming Jen, Ken Goldberg
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
parameters using sequential convex programming.  ...  For supervised automation of multi-throw suturing in Robot-Assisted Minimally Invasive Surgery, we present a novel mechanical needle guide and a framework for optimizing needle size, trajectory, and control  ...  Acknowledgements: This work is supported in part by a seed grant from the UC Berkeley Center for Information Technology in the Interest of Science (CITRIS), and by the U.S.  ... 
doi:10.1109/icra.2016.7487611 dblp:conf/icra/SenGGMJG16 fatcat:oow6fsdeinhb7edeehary4ptfi

Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery

Jacinto Colan, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa
2021 Robotics  
The needle trajectory is generated online by using a sequential convex optimization algorithm subject to stitching kinematic constraints.  ...  In this paper, we propose a robot-assisted stitching method based on an online optimization-based trajectory generation for curved needle stitching and a constrained motion planning framework to ensure  ...  Online Optimization-Based Trajectory Generation Schulman et al. [33] proposed a non-convex sequential optimization for bevel-tip needle steering based on a curvature-constrained kinematic model.  ... 
doi:10.3390/robotics10010027 fatcat:777bxyjxnzarbeo6gd25witefm

Trajectory Optimization and Replanning Framework for a Micro Air Vehicle in Cluttered Environments

Hyeonbeom Lee, Hoseong Seo, Hyeong-Geun Kim
2020 IEEE Access  
The MAV's trajectory is replanned by exploiting dynamic movement primitives (DMPs) and a time adjustment algorithm to enable computationally efficient unknown obstacle avoidance in local path planning.  ...  In the present study, we propose a trajectory optimization and replanning algorithm for micro air vehicles (MAVs) in cluttered environments.  ...  FIGURE 7 . 7 The optimized trajectory in a 3D environment: (a) The optimized trajectory in 3D map; (b) Time histories of the optimized trajectory; (c) Constraints.  ... 
doi:10.1109/access.2020.3011401 fatcat:qpxtoog5ync33hopx6azy4ckfq

Optimal model-based trajectory planning with static polygonal constraints [article]

Andreas B. Martinsen, Anastasios M. Lekkas, Sebastien Gros
2020 arXiv   pre-print
in order to plan optimal trajectories.  ...  The proposed method is a hybrid trajectory planning approach, which combines graph search, i.e. a discrete roadmap method, with convex optimization, i.e. a complete path method.  ...  This means that the final optimal trajectory, which may travel through a non-convex polygon, consists of trajectory segments constrained to lie within individual convex triangles.  ... 
arXiv:2010.14428v1 fatcat:psc7bqvnd5a6dbzzmbm2qnuu4i

On Time Optimization of Centroidal Momentum Dynamics [article]

Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
2018 arXiv   pre-print
However, it is also non convex which renders any optimization approach difficult and timing is usually kept fixed in most trajectory optimization techniques to not introduce additional non convexities  ...  In our previous work, we proposed a convex relaxation of the problem that allowed to efficiently compute momentum trajectories and contact forces.  ...  Using where L fe,t = RTe,t fe,t is the end-effector force in local frame.  ... 
arXiv:1709.09265v3 fatcat:r2dgk4ybarbwnmczegn5a2s65a

Trajectory Optimization for Curvature Bounded Non-Holonomic Vehicles: Application to Autonomous Driving [article]

Mithun Babu, Yash Oza, C. A. Balaji, Arun Kumar Singh, Bharath Gopakarishnan, K. Madhava Kirshna
2018 arXiv   pre-print
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles.  ...  We use the proposed trajectory optimization as the basis for constructing a Model Predictive Control framework for navigating an autonomous car in complex scenarios like overtaking, lane changing and merging  ...  If the motion model would have been affine, then the optimization could be efficiently solved to (local) optimality through a specially designed sequential convex programming routine [5] .  ... 
arXiv:1712.04978v2 fatcat:j4lvxrj45vaqnejucyoiqksarq

A Decoupled Trajectory Planning Framework Based on the Integration of Lattice Searching and Convex Optimization

Yu Meng, Yangming Wu, Qing Gu, Li Liu
2019 IEEE Access  
For a 3D trajectory planning problem with timestamps information, due to the presence of multiple kinds of constraints, the feasible domain is non-convex, so it is easy to fall into local optimum for trajectory  ...  This paper presents a decoupled trajectory planning framework based on the integration of lattice searching and convex optimization for autonomous driving in structured environments.  ...  A trajectory planning problem is a typical 3D constrained planning problem by considering timestamps information and spatial information.  ... 
doi:10.1109/access.2019.2940271 fatcat:ihcbewobdfhtrbkir4iihry2ja

STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation [article]

David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-Akbar Agha-Mohammadi
2021 arXiv   pre-print
To tackle these problems we propose an approach for assessing traversability and planning a safe, feasible, and fast trajectory in real-time.  ...  Value-at-Risk (CVaR), and 3) efficient risk and constraint-aware kinodynamic motion planning using sequential quadratic programming-based (SQP) model predictive control (MPC).  ...  locally quadratic sub-problems to converge to a globally Risk can be incorporated into motion planning using a (more) optimal solution [7].  ... 
arXiv:2103.02828v2 fatcat:awgmfmwr5bbntn6yuohrf23t4e

An Efficient Online Trajectory Generation Method Based on Kinodynamic Path Search and Trajectory Optimization for Human-Robot Interaction Safety

Hongyan Liu, Daokui Qu, Fang Xu, Zhenjun Du, Kai Jia, Mingmin Liu
2022 Entropy  
To increase the clearance between the trajectory and obstacles and improve the smoothness, a trajectory optimization method using the B-spline convex hull property is adopted to minimize the penalty of  ...  Compared with the existing state-of-the-art planning method for dynamic environments and advanced trajectory optimization method, our method can generate a smoother, collision-free trajectory in less time  ...  [17] developed an efficient motion planning method that formulates a sequential convex optimization method and considers collision-free constraint formulae associated with obstacles.  ... 
doi:10.3390/e24050653 fatcat:gv3izev2kjbbxao4w442nsfup4

Motion Planning for Mobile Manipulators—A Systematic Review

Thushara Sandakalum, Marcelo H. Ang
2022 Machines  
The purpose of this article is to systematically review the different planning algorithms specifically used for mobile manipulator motion planning.  ...  While planning separately for the mobile base and the manipulator provides convenience, the results are sub-optimal.  ...  Configuration Space Used derivative-free stochastic optimization [68,71] Motion Planning Optimization-based TrajOpt Configuration Space Used numerical sequential convex optimization [76,77] Motion planning  ... 
doi:10.3390/machines10020097 fatcat:z4oozgp6xzeird2h2xnwoyz764
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