arXiv:2610.32365 · v2

Graphs of Trajectory Bundles for Nonlinear Motion Planning

首次提交 2026-10-23 16:56

版本更新 2026-10-26 19:09

雷达观测 2026-10-29 00:36

摘要

We present the Graphs of Trajectory Bundles (GTB) method for motion planning of systems with nonlinear and black-box dynamics, combining sampling-based motion planning with trajectory optimization and graph search. Based on a graph-of-convex-sets decomposition of the workspace, GTB iteratively constructs a graph of trajectory bundles that captures the local dynamics of the system at any vertex. By solving a shortest-path problem on this graph, we find maximally dynamically feasible iterates that satisfy the system's dynamics in the limit and any constraints such as collision avoidance or additional safety or specification constraints by construction of the underlying graph. As a result, GTB can handle highly nonlinear, unstable, and even black-box dynamics with complex collision and specification constraints, making it a powerful tool for motion planning of complex systems.

作者备注：9 pages, 4 figures