Planning in Dynamic and Partially Unknown Environments

Kristina Miller, Chuchu Fan, Sayan Mitra

Research output: Contribution to journalConference articlepeer-review


Motion planning in dynamic and partially unknown environments is a |difficult problem requiring both perception and control components. We propose a solution to the control component while cleanly abstracting perception. We show that this clean abstraction can be used to synthesize verifiably safe reference trajectories using a combination of reachability analysis and Mixed Integer Linear Programming. Experiments with a prototype implementation of this algorithm show promise as it has subsecond synthesis performance for nonlinear vehicle models in scenarios with hundred plus obstacles on standard hardware.

Original languageEnglish (US)
Pages (from-to)169-174
Number of pages6
Issue number5
StatePublished - Jul 1 2021
Event7th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS 2021 - Brussels, Belgium
Duration: Jul 7 2021Jul 9 2021


  • Autonomy
  • Control synthesis
  • Cyberphysical systems
  • Switched systems
  • Verification

ASJC Scopus subject areas

  • Control and Systems Engineering


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