A hybrid planner that builds a convex, guaranteed-feasible trajectory optimization around a sampling-based obstacle-free path, demonstrated online on a quadcopter.
Real-time motion planning methods for autonomous on-road driving: State-of-the-art and future research directions,
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A Hybrid Method for Online Trajectory Planning of Mobile Robots in Cluttered Environments
A hybrid planner that builds a convex, guaranteed-feasible trajectory optimization around a sampling-based obstacle-free path, demonstrated online on a quadcopter.