Pith Number

pith:MLYBA43M

pith:2026:MLYBA43MJNKKEZMME4PKUTTNDF

not attested not anchored not stored refs resolved

Motion Planning for Autonomous Vehicles using Optimization over Graphs of Convex Sets

Ant\^onio Augusto Fr\"ohlich, Matheus Wagner

Optimization over graphs of convex sets approximates nonlinear optimal control for autonomous vehicle motion planning with greater efficiency.

arxiv:2605.14199 v1 · 2026-05-13 · cs.RO · cs.SY · eess.SY

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The results indicate that the GCS-based method generates collision-free and dynamically consistent trajectories that closely match those obtained from the nonlinear program, while exhibiting improved computational efficiency and reduced sensitivity to initialization.

C2weakest assumption

Under small-slip and linear tire assumptions, a simplified dynamic bicycle model enables approximate enforcement of dynamic feasibility through convex constraints on trajectory derivatives.

C3one line summary

Graphs of convex sets with Bezier paths and a simplified bicycle model produce trajectories that closely match nonlinear optimal control results but with better speed and initialization robustness in CommonRoad driving scenarios.

References

26 extracted · 26 resolved · 0 Pith anchors

[1] Model pre- dictive control for autonomous ground vehicles: a review, 2021

[2] Self- driving cars: A survey, 2021

[3] A review of learning-based motion planning: Toward a data-driven optimal control approach, 2025

[4] A survey of motion planning and control techniques for self-driving urban vehicles, 2016

[5] Spatio-temporal lattice planning using opti- mal motion primitives, 2023

Formal links

1 machine-checked theorem link

Receipt and verification

First computed	2026-05-17T23:39:11.065010Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

62f010736c4b54a2658c271eaa4e6d196626adcd2c9368009dff9c63a56a588c

Aliases

arxiv: 2605.14199 · arxiv_version: 2605.14199v1 · doi: 10.48550/arxiv.2605.14199 · pith_short_12: MLYBA43MJNKK · pith_short_16: MLYBA43MJNKKEZMM · pith_short_8: MLYBA43M

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/MLYBA43MJNKKEZMME4PKUTTNDF \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 62f010736c4b54a2658c271eaa4e6d196626adcd2c9368009dff9c63a56a588c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f757fc778f7b6d76f836bc467f2efb2065dbdb68cdfbc2424ed09a24fbbee0e0",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T23:29:54Z",
    "title_canon_sha256": "5dd197dfe676534638c06eb18cc7bd8b4fc679dce4f4897b10b444a6457d97e3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.14199",
    "kind": "arxiv",
    "version": 1
  }
}