2025/02/10 by Purnanand Elango, Elango, Purnanand, Selahattin Burak Sarsılmaz +3
Computer Science · Engineering · #Autonomous Vehicle Technology and Safety #FOS: Mathematics #Formal Methods in Verification #Optimization and Control (math.OC) #Robotic Path Planning Algorithms
paper · pdf · doi:10.48550/arxiv.2502.06623
openalex publication_date 2025/02/10 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable for as long as possible while satisfying constraints, which provides time to quantify the uncertainties. We propose optimization-based constrained reachability formulations and construct equivalent cardinality minimization problems, which then inform the design of computationally tractable and efficient solution methods that leverage state-of-the-art convex solvers and sequential convex programming (SCP) algorithms. The goal of establishing the equivalence between constrained reachability and cardinality minimization is to provide theoretically-sound underpinnings for the proposed solution methods. We demonstrate the solution methods on real-world optimal control applications encountered in quadrotor motion planning.