22_optimization_based_motion_planning

2021 ICRA ROMP

• ROMP PAPER

handle obstacle collision

Experiment

SemiInfiniteOptimization

• SemiInfiniteOptimizationPublic
• paper

signed distance fields (SDFs)

fast marching method

GuSTO

• 2019 - Guaranteed Sequential Trajectory Optimization (GuSTO)

Homotopy-Based

• 2015 Homotopy-Based Divide-and-Conquer Strategy for Optimal Trajectory Planning via Mixed-Integer Programming