Junnan Song

2 accepted papers

2022

CT-CPP: Coverage Path Planning for 3D Terrain Reconstruction Using Dynamic Coverage Trees

Zongyuan Shen, Junnan Song, Khushboo Mittal, Shalabh Gupta

RA-L 2022

This letter addresses the 3D coverage path planning (CPP) problem for terrain reconstruction of unknown obstacle-rich environments. Due to sensing limitations, the proposed method, called CT-CPP, performs layered scanning of the 3D region to collect terrain data, where the traveling sequence is opti

Cited by 26 Source ↗Scholar ↗

2019

T*: Time-Optimal Risk-Aware Motion Planning for Curvature-Constrained Vehicles

Junnan Song, Shalabh Gupta, Thomas A. Wettergren

RA-L 2019

This letter addresses the time-optimal risk-aware motion planning problem for curvature-constrained variable-speed vehicles in the presence of obstacles. To the best of our knowledge, this problem has not been solved. To obtain a feasible solution, we present a grid-based method, called T*, which co

Cited by 38 Source ↗Scholar ↗