{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/129129"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/129129","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Motion planning with dynamic constraints through pose graph optimization","abstract":"This contribution is an optimization-based method for robotic path-planning that is able to recover vehicle controls in addition to discovering an optimized, feasible trajectory from start to goal for vehicles with arbitrary dynamics. The motion planner extends the application of factor-graph optimization commonly used in simultaneous localization and mapping tasks to the path-planning task, specifically the \"timed elastic band\" trajectory optimization approach [1] for control input extraction functionality. 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