TimedElastic Smooth Curve Optimization for MobileBase Motion Planning This paper proposes the use of piecewise mathrmCn smooth curve for mobilebase motion planning and control, coined TimedElastic Smooth Curve(TESC) planner. Based on a TimedElastic Band, the problem is defined so that the trajectory lies on a spline in SE (2) with nonvanishing nth derivatives at every point. Formulated as a multiobjective nonlinear optimization problem, it allows imposing soft constraints such as collisionavoidance, velocity, acceleration and jerk limits, and more. The planning process is realtimecapable allowing the robot to navigate in dynamic complex scenarios. The proposed method is compared against the stateoftheart in various scenarios. Results show that trajectories generated by the TESC planner have smaller average acceleration and are more efficient in terms of total curvature and pseudokinetic energy while being produced with more consistency than stateoftheart planners do.

A Feedback Motion Plan for Vehicles with Bounded Curvature Constraints The use of a feedback motion plan instead of the decoupled scheme consisting of separate plan and control phases can facilitate the task of proving the properties of an autonomous system. The advantage of using a feedback motion plan is the possibility to validate the whole plan offline before its execution, which means that trajectories having different initial states can be tested simultaneously. In this paper, we formulate a feedback motion plan based on the extension of the wavefront expansion to the case of vehicles having bounded curvature. Additionally, the use of a transition function and a Gaussian filter limits undesired oscillations in the resultant trajectories. The method is suitable for both single goal missions and path following. The paper illustrates the algorithm for the generation of the plan and presents simulation data containing example trajectories and analysis of tuning parameters. Finally, future developments are discussed.