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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2604.00439 |
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| _version_ | 1866915905089306624 |
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| author | Gholampour, Hossein Beaver, Logan E. |
| author_facet | Gholampour, Hossein Beaver, Logan E. |
| contents | This paper studies tracking of collision-free waypoint paths produced by an offline planner for a planar double-integrator system with bounded speed and acceleration. Because sampling-based planners must route around obstacles, the resulting waypoint paths can contain sharp turns and high-curvature regions, so one-step reachability under acceleration limits becomes critical even when the path geometry is collision-free. We build on a pure-pursuit-style, reachability-guided quadratic-program (QP) tracker with a one-step acceleration margin. Offline, we evaluate this margin along a spline fitted to the waypoint path and update a scalar speed-scaling profile so that the required one-step acceleration remains below the available bound. Online, the same look-ahead tracking structure is used to track the scaled reference. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_00439 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Reachability-Aware Time Scaling for Path Tracking Gholampour, Hossein Beaver, Logan E. Robotics Systems and Control This paper studies tracking of collision-free waypoint paths produced by an offline planner for a planar double-integrator system with bounded speed and acceleration. Because sampling-based planners must route around obstacles, the resulting waypoint paths can contain sharp turns and high-curvature regions, so one-step reachability under acceleration limits becomes critical even when the path geometry is collision-free. We build on a pure-pursuit-style, reachability-guided quadratic-program (QP) tracker with a one-step acceleration margin. Offline, we evaluate this margin along a spline fitted to the waypoint path and update a scalar speed-scaling profile so that the required one-step acceleration remains below the available bound. Online, the same look-ahead tracking structure is used to track the scaled reference. |
| title | Reachability-Aware Time Scaling for Path Tracking |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2604.00439 |