Journal article

FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking

M Chen, S Herbert, H Hu, Y Pu, J Fernandez Fisac, S Bansal, S Han, CJ Tomlin

IEEE Transactions on Automatic Control | Published : 2021


Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. On the other hand, provably safe trajectory planning tends to be too computationally intensive for real-time replanning. We propose FaSTrack, Fast and Safe Tracking, a framework that achieves both real-time replanning and guaranteed safety. In this framework, real-time computation is achieved by allowing any trajectory planner to use a simplified \textit{planning model} of the system. The plan is tracked by the system, represented by a more realistic, higher-dimensional \textit{tracking model}. We precom..

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University of Melbourne Researchers

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