Interleaving Graph Search and Trajectory Optimization for Aggressive
Quadrotor Flight

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Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight

29 January 2021

Ramkumar Natarajan

Maxim Likhachev

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Papers citing "Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight"

16 / 16 papers shown

Title
Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local Adaptation Edgar Granados Sumanth Tangirala Kostas E. Bekris 69 0 0 28 Apr 2025
Implicit Graph Search for Planning on Graphs of Convex Sets Ramkumar Natarajan Chaoqi Liu Howie Choset Maxim Likhachev 76 6 0 11 Oct 2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation Abhinav Kumar Thomas Power Fan Yang Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 86 0 0 01 Oct 2024
GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets S. Y. C. Chia Rebecca H. Jiang B. P. Graesdal L. Kaelbling Russ Tedrake 92 9 0 11 Jul 2024
PWTO: A Heuristic Approach for Trajectory Optimization in Complex Terrains Yilin Cai Zhongqiang Ren 129 1 0 03 Jul 2024
iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization Joaquim Ortiz de Haro Wolfgang Hönig Valentin N. Hartmann Marc Toussaint Ludovic Righetti 69 5 0 16 Mar 2024
PINSAT: Parallelized Interleaving of Graph Search and Trajectory Optimization for Kinodynamic Motion Planning Ramkumar Natarajan Shohin Mukherjee Howie Choset Maxim Likhachev 44 3 0 17 Jan 2024
Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator Ramkumar Natarajan Hanlan Yang Qintong Xie Yash Oza M. Das Fahad Islam Muhammad Suhail Saleem Howie Choset Maxim Likhachev 78 1 0 16 Jan 2024
iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning Joaquim Ortiz de Haro Wolfgang Hoenig Valentin N. Hartmann Marc Toussaint 48 8 0 06 Nov 2023
Collision Avoidance using Iterative Dynamic and Nonlinear Programming with Adaptive Grid Refinements Rebecca Richter A. Marchi Matthias Gerdts 16 0 0 06 Nov 2023
Long Horizon Planning through Contact using Discrete Search and Continuous Optimization Ramkumar Natarajan Garrison L. H. Johnston Nabil Simaan Maxim Likhachev Howie Choset 120 3 0 16 Oct 2022
Motion Planning around Obstacles with Convex Optimization Tobia Marcucci Mark E. Petersen D. V. Wrangel Russ Tedrake 81 138 0 09 May 2022
db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning Wolfgang Hoenig Joaquim Ortiz de Haro Marc Toussaint 64 11 0 21 Mar 2022
STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning Hongkai Ye Chao Xu Fei Gao 38 2 0 16 Sep 2021
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments Yuki Shirai Xuan Lin Ankur M. Mehta Dennis W. Hong 73 1 0 01 Mar 2021
Geometrically Constrained Trajectory Optimization for Multicopters Zhepei Wang Xiaoxia Zhou Chao Xu Fei Gao 92 232 0 27 Feb 2021