We are excited to share a preview of Calvin’s research which he will be presenting at IROS 2019: a Python toolkit to generate trajectories for multiple autonomous vehicles (available on GitHub). The core concept of this research uses Bernstein Polynomials (sometimes referred to as Bézier curves) to discretize trajectories. This discretization scheme allows for efficient computation of the cost and constraint functions which are plugged into an off-the-shelf sequential quadratic programming solver (Scipy’s SLSQP). A video overview of the research can be found on YouTube.
