Research

Geometric Constraints based Optimization

Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors [http]

Search-based Global Path Planning

Fast Path Planning for Autonomous Vehicle Parking with Safety-Guarantee using Hamilton-Jacobi Reachability [video] [Pdf]
Optimization-based Motion Planning for Autonomous Parking Considering Dynamic Obstacle: A Hierarchical Framework
Search-based Path Planning Algorithm for Autonomous Parking: Multi-Heuristic Hybrid A

Collision Avoidance

Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems [video]
Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions [Arxiv]

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