FaSTrack: A modular framework for fast and guaranteed safe motion planning
FaSTrack: A modular framework for fast and guaranteed safe motion planning
Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often requiring simplified dynamics that sacrifice safety and dynamic feasibility in order to plan efficiently. Conversely, safe trajectories can be …