MIGHTY: Hermite Spline-based Efficient Trajectory Planning
Автор: AerospaceControlsLab
Загружено: 2025-11-17
Просмотров: 425
arXiv: https://arxiv.org/abs/2511.10822
Code: https://github.com/mit-acl/mighty
ResearchGate: https://www.researchgate.net/publicat...
Hard-constraint trajectory planners often rely on commercial solvers and demand substantial computational resources.
Existing soft-constraint methods achieve faster computation, but either (1) decouple spatial and temporal optimization or (2) restrict the search space.
To overcome these limitations, we introduce MIGHTY, a Hermite spline-based planner that performs spatiotemporal optimization while fully leveraging the continuous search space of a spline.
In simulation, MIGHTY achieves a 9.3% reduction in computation time and a 13.1% reduction in travel time over state-of-the-art baselines, with a 100% success rate.
In hardware, MIGHTY completes multiple high-speed flights up to 6.7 m/s in a cluttered static environment and long-duration flights with dynamically added obstacles.
Доступные форматы для скачивания:
Скачать видео mp4
-
Информация по загрузке:
![[ICRA24] PUMA: Decentr. Uncertainty-aware Multiagent Traj. Planner w/ Image Segmentation Frame Align](https://image.4k-video.ru/id-video/W73p42XRcaQ)
![[Presentation] Deep-PANTHER: Learning-Based Perception-Aware Traj. Planner in Dynamic Environments](https://image.4k-video.ru/id-video/zlMxuSSvo3o)
