{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,5]],"date-time":"2026-08-05T18:21:28Z","timestamp":1785954088314,"version":"3.56.0"},"reference-count":71,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2014,6,11]],"date-time":"2014-06-11T00:00:00Z","timestamp":1402444800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2014,8]]},"abstract":"<jats:p>We present a new optimization-based approach for robotic motion planning among obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our algorithm can be used to find collision-free trajectories from na\u00efve, straight-line initializations that might be in collision. At the core of our approach are (a) a sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases the penalty coefficients in an outer loop as necessary, and (b) an efficient formulation of the no-collisions constraint that directly considers continuous-time safety Our algorithm is implemented in a software package called TrajOpt.<\/jats:p>\n                  <jats:p>We report results from a series of experiments comparing TrajOpt with CHOMP and randomized planners from OMPL, with regard to planning time and path quality. We consider motion planning for 7 DOF robot arms, 18 DOF full-body robots, statically stable walking motion for the 34 DOF Atlas humanoid robot, and physical experiments with the 18 DOF PR2. We also apply TrajOpt to plan curvature-constrained steerable needle trajectories in the SE(3) configuration space and multiple non-intersecting curved channels within 3D-printed implants for intracavitary brachytherapy. Details, videos, and source code are freely available at: http:\/\/rll.berkeley.edu\/trajopt\/ijrr .<\/jats:p>","DOI":"10.1177\/0278364914528132","type":"journal-article","created":{"date-parts":[[2014,6,12]],"date-time":"2014-06-12T01:46:57Z","timestamp":1402537617000},"page":"1251-1270","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":743,"title":["Motion planning with sequential convex optimization and convex collision checking"],"prefix":"10.1177","volume":"33","author":[{"given":"John","family":"Schulman","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yan","family":"Duan","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jonathan","family":"Ho","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alex","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ibrahim","family":"Awwal","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Henry","family":"Bradlow","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jia","family":"Pan","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sachin","family":"Patil","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ken","family":"Goldberg","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pieter","family":"Abbeel","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2014,6,11]]},"reference":[{"key":"bibr1-0278364914528132","volume-title":"Optimization Algorithms on Matrix Manifolds","author":"Absil P","year":"2009"},{"key":"bibr2-0278364914528132","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2007.III.030"},{"key":"bibr3-0278364914528132","doi-asserted-by":"publisher","DOI":"10.1243\/0954406021524909"},{"key":"bibr4-0278364914528132","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2013.06.004"},{"key":"bibr5-0278364914528132","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898718577"},{"key":"bibr6-0278364914528132","doi-asserted-by":"publisher","DOI":"10.1177\/0278364902021012002"},{"key":"bibr7-0278364914528132","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.2181749"},{"key":"bibr8-0278364914528132","doi-asserted-by":"publisher","DOI":"10.1016\/S0097-8493(97)00082-4"},{"key":"bibr9-0278364914528132","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386228"},{"key":"bibr10-0278364914528132","unstructured":"Coumanns E (2012) Bullet physics library. 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