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- Sertac Karaman, Emilio Frazzoli
- I. J. Robotics Res.
- 2011
During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess… (More)
- Dimos V. Dimarogonas, Emilio Frazzoli, Karl Henrik Johansson
- IEEE Transactions on Automatic Control
- 2012
Event-driven strategies for multi-agent systems are motivated by the future use of embedded microprocessors with limited resources that will gather information and actuate the individual agent… (More)
- Sertac Karaman, Emilio Frazzoli
- Robotics: Science and Systems
- 2010
During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs), have been shown to work well in practice and to possess theoretical… (More)
- Yoshiaki Kuwata, Sertac Karaman, Justin Teo, Emilio Frazzoli, Jonathan P. How, Gaston A. Fiore
- IEEE Transactions on Control Systems Technology
- 2009
This paper describes a real-time motion planning algorithm, based on the rapidly-exploring random tree (RRT) approach, applicable to autonomous vehicles operating in an urban environment. Extensions… (More)
- Sertac Karaman, Emilio Frazzoli
- 49th IEEE Conference on Decision and Control (CDC…
- 2010
Sampling-based algorithms such as the Rapidly-exploring Random Tree (RRT) have been recently proposed as an effective approach to computationally hard motion planning problem. However, while the RRT… (More)
- Sertac Karaman, Matthew R. Walter, Alejandro Perez, Emilio Frazzoli, Seth J. Teller
- 2011 IEEE International Conference on Robotics…
- 2011
The Rapidly-exploring Random Tree (RRT) algorithm, based on incremental sampling, efficiently computes motion plans. Although the RRT algorithm quickly produces candidate feasible solutions, it tends… (More)
- Emilio Frazzoli, Munther A. Dahleh, Eric Feron
- IEEE Transactions on Robotics
- 2005
In this paper, we introduce an approach for the efficient solution of motion-planning problems for time-invariant dynamical control systems with symmetries, such as mobile robots and autonomous… (More)
- John J. Leonard, Jonathan P. How, +25 authors Jonathan Williams
- The DARPA Urban Challenge
- 2008
This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or… (More)
- Ketan Savla, Emilio Frazzoli, Francesco Bullo
- Proceedings of the 2005, American Control…
- 2005
In this paper we study the length of optimal paths for Dubins' vehicle, i.e., a vehicle constrained to move forward along paths of bounded curvature. First, we obtain an upper bound on the optimal… (More)
- Ketan Savla, Emilio Frazzoli, Francesco Bullo
- IEEE Transactions on Automatic Control
- 2008
In this paper, we study minimum-time motion planning and routing problems for the Dubins vehicle, i.e., a nonholonomic vehicle that is constrained to move along planar paths of bounded curvature,… (More)