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Trevisan, E. (author), Alonso-Mora, J. (author)Motion planning for autonomous robots in dynamic environments poses numerous challenges due to uncertainties in the robot's dynamics and interaction with other agents. Sampling-based MPC approaches, such as Model Predictive Path Integral (MPPI) control, have shown promise in addressing these complex motion planning problems. However, the...journal article 2024
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Streichenberg, L.M. (author), Trevisan, E. (author), Chung, Jen Jen (author), Siegwart, R. (author), Alonso-Mora, J. (author)Autonomous vehicles that operate in urban environments shall comply with existing rules and reason about the interactions with other decision-making agents. In this paper, we introduce a decentralized and communication-free interaction-aware motion planner and apply it to Autonomous Surface Vessels (ASVs) in urban canals. We build upon a...conference paper 2023
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de Vries, J.M. (author), Trevisan, E. (author), van der Toorn, J. (author), Das, T. (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive...conference paper 2022