State-Feedback Optimal Motion Planning in the Presence of Obstacles

Panagiotis Rousseas, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


In this letter, a solution to the kinematic optimal motion planning problem is presented, where a previous nearly globally optimal approach is extended to workspaces with internal obstacles. The method is inspired by fundamental properties of velocity fields in the presence of obstacles, where topological restrictions inhibit naive approaches. The topological perplexity problem presents itself as a challenging issue for optimal control, even for low-dimensional cases with simple dynamics. Our scheme is formulated such that a locally optimal workspace decomposition enables extracting a close-to-optimal solution. Several synthetic workspace examples are demonstrated, along with comparisons against existing optimal approaches, where our scheme is superior w.r.t. both cost value and execution time.

Original languageEnglish (US)
Pages (from-to)8406-8413
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number12
StatePublished - Dec 1 2023


  • Motion and path planning
  • optimization and optimal control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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