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Publications

Journal Papers

K. Bergman, O. Ljungqvist and D. Axehill
Improved Path Planning by Tightly Combining Lattice-based Path Planning and Numerical Optimal Control
IEEE Transaction on Intelligent Vehicles, 2020.

Conference Papers

K. Bergman, O. Ljungqvist, J. Linder and D. Axehill
An Optimization-Based Motion Planner for Autonomous Maneuvering of Marine Vessels in Complex Environments
2020 59th IEEE Conference on Decision and Control (CDC), 2020.

K. Bergman, O. Ljungqvist, T.Glad and D. Axehill
An optimization-based receding horizon trajectory planning algorithm
21st IFAC World Congress, 2020. Pre-print: arXiv

O. Ljungqvist, K. Bergman and D. Axehill
Optimization-based motion planning for multi-steered articulated vehicles
21st IFAC World Congress, 2020. Pre-print: arXiv

K. Bergman, O. Ljungqvist, and D. Axehill
Improved Optimization of Motion Primitives for Motion Planning in State Lattices
2019 IEEE Intelligent Vehicles Symposium (IV), Paris, June 2019.

K. Bergman, D. Axehill
Combining Homotopy Methods and Numerical Optimal Control to Solve Motion Planning Problems
2018 IEEE Intelligent Vehicles Symposium (IV), Changshu, China, June 2018.
(Best Application Paper Award)

Pre-prints

K. Bergman, O. Ljungqvist, J.Linder and D. Axehill
A COLREGs-Compliant Motion Planner for Autonomous Maneuvering of Marine Vessels in Complex Environments
2020. Pre-print: arXiv