Wavelet methods for smoothing noisy data
An international conference on curves and surfaces on Wavelets, images, and surface fitting
Orthogonality of cardinal B-splines in weighted Sobolev spaces
SIAM Journal on Mathematical Analysis
Selection of Best Orthonormal Rational Basis
SIAM Journal on Control and Optimization
Robot Motion Planning and Control
Robot Motion Planning and Control
Alice: An information-rich autonomous vehicle for high-speed desert navigation: Field Reports
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
Planning Algorithms
Monte Carlo algorithm for trajectory optimization based on Markovian readings
Computational Optimization and Applications
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The objective of this study is to find a smooth function joining two points A and B with minimum length constrained to avoid fixed subsets. A penalized nonparametric method of finding the best path is proposed. The method is generalized to the situation where stochastic measurement errors are present. In this case, the proposed estimator is consistent, in the sense that as the number of observations increases the stochastic trajectory converges to the deterministic one. Two applications are immediate, searching the optimal path for an autonomous vehicle while avoiding all fixed obstacles between two points and flight planning to avoid threat or turbulence zones.