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Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees but at high computational cost.
“Differential Games with Maximum Cost”
EN Barron · 1990
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“Principles of metareasoning”
Stuart Russell and Eric Wefald · 1991
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“Rapidly-exploring random trees: A new tool for path planning”
S.. LaValle · 1998
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“A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic games”
I.M. Mitchell, A.M. Bayen and C.J. Tomlin · 2005
Earlier work this paper cites.
“Robust variable horizon model predictive control for vehicle maneuvering”
A. Richards and J.. How · 2006
Earlier work this paper cites.
“Efficient numerical methods for nonlinear MPC and moving horizon estimation”
M. Diehl, H.. Ferreau and N. Haverbeke · 2009
Earlier work this paper cites.
“ROS: an open-source Robot Operating System”
Morgan Quigley et al · 2009
Earlier work this paper cites.
“Reachability and minimal times for state constrained nonlinear problems without any controllability assumption”
O. Bokanowski, N. Forcadel and H. Zidani · 2010
Earlier work this paper cites.
“Thinking, fast and slow”
D. Kahneman · 2011
Cited alongside, same era.
“A differential game approach to planning in adversarial scenarios: A case study on capture-the-flag”
H. Huang, J. Ding, W. Zhang and C.J. Tomlin · 2011
Cited alongside, same era.
“The Open Motion Planning Library” http://ompl.kavrakilab.org
I.. Şucan, M. Moll and L.. Kavraki · 2012
Cited alongside, same era.
“Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic”
J.. Gammell, S.. Srinivasa and T. Barfoot · 2014
Cited alongside, same era.
“Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey”
M. Hoy, A.. Matveev and A.. Savkin · 2015
Cited alongside, same era.
“Reference tracking with guaranteed error bound for constrained linear systems”
S. Di and F. Borrelli · 2016
Later among the works it cites.
“Multiplayer Reach-Avoid Games via Pairwise Outcomes”
M. Chen, Z. Zhou and C.. Tomlin · 2016
Later among the works it cites.
“Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems”
M. Chen et al · 2016
Later among the works it cites.
“FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning”
S. Herbert* et al · 2017
Closest in time.
“Funnel libraries for real-time robust feedback motion planning”
A. Majumdar and R. Tedrake · 2017
Closest in time.
“Robust online motion planning via contraction theory and convex optimization”
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“Reach-Avoid Problems with Time-Varying Dynamics, Targets and Constraints”
J.. Fisac, M. Chen, C.. Tomlin and S.. Sastry · 2015
Cited alongside, same era.
“Batch informed trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs”
J.. Gammell, S.. Srinivasa and T.. Barfoot · 2015
Cited alongside, same era.
“Fast nonlinear model predictive control for unified trajectory optimization and tracking”
M. Neunert et al · 2016
Cited alongside, same era.
S. Singh, A. Majumdar, J-J Slotine and M. Pavone · 2017
Closest in time.
“Safe Sequential Path Planning of Multi-Vehicle Systems Under Presence of Disturbances and Imperfect Information”
S. Bansal, M. Chen, J.. Fisac and C.. Tomlin · 2017
Closest in time.
“When Does Bounded-Optimal Metareasoning Favor Few Cognitive Systems?”
S. Milli, F. Lieder and T.. Griffiths · 2017
Closest in time.