arXiv Robotics — research abstracts· Seyedali Golestaneh, Zhuoyun Zhong, Donghyung Lee, Constantinos Chamzas·· 1 days agoEditorial score58
AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems
AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems
Summary
AURA is a meta-planner framework that enhances path quality and tracking performance during execution for kinodynamic systems. It integrates online replanning and optimization to reduce tracking error under motion uncertainty, demonstrating improvements in trajectory quality and performance across simulations and real-world environments.
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Source：arXiv Robotics — research abstracts · arxiv.org