GTOP:Gradient-Based Trajectory Optimizer (This repo is mainly developed and maintained byBoyu Zhou, please contace him if necessary) 1.Introduction Gradient-Based Online Safe Trajectory Generation is trajectory optimization framework, for generating a safe, smooth and dynamically feasible trajectory base...
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper, we propose a replanning method based on GTO addressing ...
本文解析Gradient-Based Online Safe Trajectory Generation for Quadrotor Flight in Complex Environments, Fei Gao, Yi Lin and Shaojie Shen. 文章对于轨迹规划的思路是基于梯度下降法进行迭代求解的。与论文推土机:Continuous-Time Trajectory Optimization for Online UAV Replanning中的方法比较相似。文章的abstract如下:...
Optimal well placement Gradient-based optimization Adjoint-based gradient Single-segment deviated wellbores Inter-well distance constraint Well-to-boundary distance constraint 1. Introduction In this work, we present a novel and efficient way to approximate derivative information with respect to well locati...
A robust UAV local planner based on the ICRA2020 paper: Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths Topics uav motion-planning quadrotor trajectory-optimization aerial-robotics autonomous-navigation Resources Readme Activity Custom properties Stars 94...
Yang, L.C. Ma et al., Research on virtual coupled train control method based on GPC & VAPF. Chin. J. Electron. 31(5), 897–905 (2022) Google Scholar Y. Cao, Z.X. Zhang, F.L. Cheng, S. Su, Trajectory optimization for high-speed trains via a mixed integer linear programming ...
However, Yang and Deb [3, 9] found that the results obtained for a variety of optimization problems were not so dependent on the value of pa and suggested using pa = 0.25. 3. Gradient-Based Cuckoo Search (GBCS) Algorithm The purpose of this section is to introduce the simple ...
Gradient-based planners are widely used for quadrotor local planning, in which a Euclidean Signed Distance Field (ESDF) is crucial for evaluating gradient magnitude and direction. Nevertheless, computing such a field has much redundancy since the trajectory optimization procedure only covers a very ...
A Matlab implementation of the B-spline trajectory algorithm in paper "Robust real-time UAV replanning using guided gradient-based optimization and topological paths" - xiaogaogaoxiao/BsplineTrajectory
PolicyGradient策略梯度 增强学习的一些分类:ValueBased:值函数Q值函数PolicyBased:不需要值函数直接优化PolicyActorCritic:学习值... Multi-step MDP 考虑整个trajectory 展开整个trajectory REINFORCEPolicyGradient小结Actor-criticCompatible 智能推荐 7 Policy Gradient ...