Work

Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems

Year: 2022

Type: conference-paper

Abstract: We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning and trajectory estimation navigation technique generates optimal collision-free state and control trajectories for autonomous vehicles when the obstacle motion model is both unknown and known. We evaluate the utility of the algorithm to support future autonomous robotic space missions.

Source: Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI: 10.1109/icra46639.2022.9811875

Authors: Matthew King-Smith, Panagiotis Tsiotras, Frank Dellaert

Institution: Georgia Institute of Technology

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4285102507

FWCI: 0.816

Cites: 42

Cited by: 11

Related to: 10