Search-based task and motion planning for hybrid systems: Agile autonomous vehicles

Zlatan Ajanovic, Enrico Regolin, Barys N. Shyrokau, Hana Catic, Martin Horn, Antonella Ferrara

Abstract: Highlights•Agile automated driving on gravel roads of arbitrary shape (e.g., S-like curves).•Automated decision when to go into which mode (e.g. drifting).•Algorithm efficiently searches in 7D state-space with nonlinear, unstable dynamics.•The space is explored by sampling different combinations of motion primitives.•Local model approximations with mode-feasibility-map to simplify planning w.l.o.g.