Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Online State-Time Trajectory Planning Using Timed-ESDF in Highly Dynamic
  Environments   Online state-time trajectory planning in highly dynamic environments remains
an unsolved problem due to the unpredictable motions of moving obstacles and
the curse of dimensionality from the state-time space. Existing state-time
planners are typically implemented based on randomized sampling approaches or
path searching on discretized state graph. The smoothness, path clearance, and
planning efficiency of these planners are usually not satisfying. In this work,
we propose a gradient-based planner over the state-time space for online
trajectory generation in highly dynamic environments. To enable the
gradient-based optimization, we propose a Timed-ESDT that supports distance and
gradient queries with state-time keys. Based on the Timed-ESDT, we also define
a smooth prior and an obstacle likelihood function that is compatible with the
state-time space. The trajectory planning is then formulated to a MAP problem
and solved by an efficient numerical optimizer. Moreover, to improve the
optimality of the planner, we also define a state-time graph and then conduct
path searching on it to find a better initialization for the optimizer. By
integrating the graph searching, the planning quality is significantly
improved. Experiment results on simulated and benchmark datasets show that our
planner can outperform the state-of-the-art methods, demonstrating its
significant advantages over the traditional ones.

22
The categories of this paper are: chao-dyn
18
The categories of this paper are: econ
5
The categories of this paper are: gr-qc
37
The categories of this paper are: supr-con
7
The categories of this paper are: hep-th
12
The categories of this paper are: nucl-th
32
The categories of this paper are: atom-ph
13
The categories of this paper are: quant-ph
0
The categories of this paper are: hep-ph
17
The categories of this paper are: q-fin
14
The categories of this paper are: math-ph
26
The categories of this paper are: bayes-an
10
The categories of this paper are: q-bio
6
The categories of this paper are: astro-ph
21
The categories of this paper are: adap-org
24
The categories of this paper are: dg-ga