Algorithmic and Differential-Geometric Trajectory Design

该项目专注于在复杂环境中发展的高维、高度非线性系统的通用轨迹设计算法。目标是结合微分几何、非线性控制理论、机器人运动规划、随机化算法和数学规划等方法，解决目前难以解决的各种类型自动驾驶车辆高保真模型的轨迹生成和优化问题。

The project focuses on general purpose trajectory design algorithms for high dimensional, highly nonlinear systems evolving in complex environments. The goal is to solve the currently intractable problem of trajectory generation and optimization for high-fidelity models of various types of autonomous vehicles, using an approach that combines methods from differential geometry, nonlinear control theory, robot motion planning, randomized algorithms, and mathematical programming.