Mixed-Integer Motion Planning on German Roads Within the Apollo Driving Stack.
Tobias KesslerKlemens EsterleAlois C. KnollPublished in: IEEE Trans. Intell. Veh. (2023)
Keyphrases
- motion planning
- mixed integer
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- linear program
- lot sizing
- benders decomposition
- feasible solution
- convex hull
- humanoid robot
- robotic tasks
- continuous relaxation
- optimal solution
- road network
- multi robot
- lagrangian heuristic
- continuous variables
- collision free
- dynamic environments
- climbing robot
- travel time