Alice: Path Planning
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Lecture Materials
Reading
Realtime Path Planning Via Nonlinear Optimization Methods, Dmitriy Kogan and Richard Murray. To be submitted, IEEE T. Robotics, 2006. This paper describes Alice's path planner in a fair bit of detail, including the latest results of the optimizations that were performed and data taken from the grand challenge events.
Realtime Path Planning Via Nonlinear Optimization Methods, Dmitriy Kogan. MS Thesis, 2005. This thesis describes most of the internals of the path planning algorithm. It was written before some of the final tuning was performed on Alice (during summer of 2005).
