Frédéric Large

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Vehicle navigation in dynamic environments is a challenging task, especially when the motion of the obstacles populating the environment is unknown beforehand and is updated at runtime. Traditional motion planning approaches are too slow to be applied in real-time to this problem, whereas reactive navigation methods have generally a too short look-ahead(More)
This paper generalizes the concept of velocity obstacles [3] to obstacles moving along arbitrary trajectories. We introduce the non-linear velocity obstacle, which takes into account the shape, velocity and path curvature of the moving obstacle. The non-linear v-obstacle allows selecting a single avoidance maneuver (if one exists) that avoids any number of(More)
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too slow to be applied in real-time to this domain, hence, new techniques are needed. Recently, iterative planning has emerged as a promising approach. Nevertheless,(More)
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too slow to be applied in real-time to this domain, hence, new techniques are needed. Recently, iterative planning has emerged as a promising approach. Nevertheless,(More)
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too slow to be applied in real-time to this domain, hence, new techniques are needed. Recently, iterative planning has emerged as a promising approach. Nevertheless,(More)
This paper presents a novel control architecture for a car-like vehicle moving in a dynamic and partially known environment. The key idea is to plan and carry out sensor-based maneuvers. The paper focuses on the reactive part of the architecture that features control experts, i.e. parameterized control programs adapted to a speciic maneuver and capable to(More)
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too slow to be applied in realtime to this domain, hence, new techniques are needed. Recently, iterative planning has emerged as a promising approach. Nevertheless,(More)