S*: Geometric Multimodal Trajectory Optimization via Apex Interpolating Spiro Splines
Non-heuristic multimodal trajectory optimization is widely considered an intractable holy grail for real-time robotic systems, with the existing state-of-the-art standing at a heuristic hierarchical approach that stacks upstream search-based or sampling-based behavior planning on top of downstream l...
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| 格式: | Thesis |
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Massachusetts Institute of Technology
2023
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| 在线阅读: | https://hdl.handle.net/1721.1/147490 |