知名研究机构
University of Pennsylvania
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GRASP Lab,Vijay Kumar
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Research Interests: planning, control, swarm
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Massachusetts Institute of Technology
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Jonathan How
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Research Interests: modelling, control, planning
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Nicholas Roy
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Research Interests: perception, learning
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Carnegie Mellon University
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Nathan Michael
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Sebastian Scherer
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Research Interests: perception, planning
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University of California, Berkeley
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Markus Mueller
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Research Interests: control, planning
ETH Zurich
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ASL Team, Roland Siegwart
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Research Interests: perception, control
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Raffaello D’Andrea
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Research Interests : control, swarm
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University of Zurich
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Davide Scaramuzza
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Research Interests : perception, control
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Hong Kong University of Science Technology
年轻学者
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Helen Oleynikova
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Sikang Liu
路径规划技术图谱
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前端搜索
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SEARCH-BASED PATH FINDING
- Graph Search Basis
- Dijkstra and A*
- Jump Point Search
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SAMPLING-BASED PATH FINDING
- Probabilistic Road Map
- Rapidly-exploring Random Tree (RRT)
- Optimal Sampling-based Methods
- Advanced Sampling-based Methods
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KINODYNAMIC PATH FINDING
- State-state Boundary Value Optimal Control Problem
- State Lattice Search
- Kinodynamic RRT*
- Hybrid A*
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后端优化
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MINIMUM SNAP TRAJECTORY GENERATION
- Differential Flatness
- Minimum Snap Optimization
- Closed-form Solution to Minimum Snap
- Time Allocation
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SOFT AND HARD CONSTRAINED TRAJECTORY OPTIMIZATION
- Soft Constrained Trajectory Optimization
- Hard Constrained Trajectory Optimization
地图
地图种类
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占据栅格图(Occupancy grid map)
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八叉树地图(Octo-map)
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体素哈希地图(Voxel hashing)
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点云地图(Point cloud map)
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截断的符号距离场地图(Truncated Signed Distance Functions map, TSDF)
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欧几里得符号距离场地图(Euclidean Signed Distance Functions map, ESDF)
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Free-space Roadmap
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维诺图(Voronoi Diagram map)
