Agile and Reliable Navigation

The project targets motion planning in 2D complex but highly-structured environments. It aims at developing an automated motion planning research software toolbox that delivers highly performant trajectories at low computational cost, exhibits predictable behavior, and can shape the trajectories to specific application needs.

These requirements will be realized through a combination of three strategies:

(i) dividing trajectory into offline-optimized or expert-demonstrated application-specific motion primitives
(ii) using a fast optimal control solver only sparingly where most impactful for the overall optimality
(iii) a high-level router that safeguards the consistency of the solution and avoids deadlock and congestion