Browsing Articles by Author "Thoresen, Marius"

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    • Path Planning for UGVs Based on Traversability Hybrid A* 

      Thoresen, Marius; Nielsen, Niels Hygum; Mathiassen, Kim; Pettersen, Kristin Ytterstad (2021-02-01)
      In this letter, a new method of path planning for unmanned ground vehicles (UGVs) on terrain is developed. For UGVs moving on terrain, path traversability and collision avoidance are important factors. If traversability ...

    • The Rapidly Exploring Random Tree Funnel Algorithm 

      Orhagen, Ole Petter; Thoresen, Marius; Mathiassen, Kim (2022-03-17)
      This paper shows the feasibility of combining robust motion primitives generated through the Sums Of Squares programming theory with a discrete Rapidly exploring Random Tree algorithm. The generated robust motion ...