Heuristics: intelligent search strategies for computer problem solving
Heuristics: intelligent search strategies for computer problem solving
Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Principles of artificial intelligence
Principles of artificial intelligence
An intelligent, predictive control approach to the high-speed cross-country autonomous navigation problem
Motion planning for carlike robots using a probabilistic learning approach
International Journal of Robotics Research
Map learning and high-speed navigation in RHINO
Artificial intelligence and mobile robots
Multiple sequence alignment using anytime A*
Eighteenth national conference on Artificial intelligence
Performance measurement and analysis of certain search algorithms.
Performance measurement and analysis of certain search algorithms.
The TerraMax autonomous vehicle: Field Reports
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
Stanley: The robot that won the DARPA Grand Challenge: Research Articles
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
International Journal of Robotics Research
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Generalized Fringe-Retrieving A*: faster moving target search on state lattices
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Sampling-based algorithms for optimal motion planning
International Journal of Robotics Research
Safe distributed motion coordination for second-order systems with different planning cycles
International Journal of Robotics Research
Optimal trajectories for time-critical street scenarios using discretized terminal manifolds
International Journal of Robotics Research
Opportunities and challenges with autonomous micro aerial vehicles
International Journal of Robotics Research
In-field and inter-field path planning for agricultural transport units
Computers and Industrial Engineering
Analysis of solutions to the time-optimal planning and execution problem
Intelligent Service Robotics
Avoiding moving persons by using simple trajectory prediction and spatio temporal planning
KI'12 Proceedings of the 35th Annual German conference on Advances in Artificial Intelligence
A review of path planning and mapping technologies for autonomous mobile robot systems
Proceedings of the 5th ACM COMPUTE Conference: Intelligent & scalable system technologies
Proceedings of Conference on Advances In Robotics
Spline-Based RRT Path Planner for Non-Holonomic Robots
Journal of Intelligent and Robotic Systems
Performance analysis of path planners for car-like vehicles toward automatic parking control
Intelligent Service Robotics
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In this paper, we present an algorithm for generating complex dynamically feasible maneuvers for autonomous vehicles traveling at high speeds over large distances. Our approach is based on performing anytime incremental search on a multi-resolution, dynamically feasible lattice state space. The resulting planner provides real-time performance and guarantees on and control of the suboptimality of its solution. We provide theoretical properties and experimental results from an implementation on an autonomous passenger vehicle that competed in, and won, the Urban Challenge competition.