Rapid Updating for Path-Planning using Nonlinear Branch and Bound. Eele, Richards. ICRA 2010


  1. Paper discusses a rapid updating technique for path planning with fixed obstacles.  “The key feature… is the ability to increment and re-arrange the existing search tree reducing the amount of computation taken to find a new plan.”
  2. The method performs receding horizon control
  3. Based on Obstacle Branch and Bound (OBB) which finds the globally optimal solution of the nonconvex problem (when, at the limit?) while maintaining full nonlinear dynamics model of the vehicle
    1. The original method required all obstacles a-priori, but this method can encounter new obstacles during planing
    2. Looks like planning assumes obstacles are circular
  4. The dynamics are discretized using direct global collocation with Gaussian Radau points (?)

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