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cs.RO2026
Semidefinite Relaxations for Collision-Free Motion Planning
Bernhard Paus Graesdal, Alexandre Amice, Pablo A. Parrilo +1
We study semidefinite relaxations for collision-free motion planning. We focus on a point robot moving from start to goal through spherical obstacles in , subject to…
cs.RO2026
A Framework for Combining Optimization-Based and Analytic Inverse Kinematics
Thomas Cohn, Lihan Tang, Alexandre Amice +1
Analytic and optimization methods for solving inverse kinematics (IK) problems have been deeply studied throughout the history of robotics. The two strategies have complementary st…