This paper presents a method for motion planning in dynamic environments, subject to robot dynamics and ac-tuator constraints. The time optimal trajectory is computed by rst generating an initial guess using the concept of velocity obstacle. The initial guess, computed by a global search over a tree of avoidance maneuvers, is then optimized using a dynamic optimization. This method is applicabl...

I introduce two strategies to overcome the slow convergence of least squares sparse data interpolation: 1) a 2-D multiscale Laplacian regularization operator, and 2) an explicit quadtree-style upsampling scheme which produces a good initial guess for iterative schemes. The multiscale regularization produces an order-of-magnitude speedup in the interpolation of a sparsely sampled topographical m...