activity
20192023
most citedA Differentiable Signed Distance Representation for Continuous Collision Avoidance in Optimization-Based Motion Planning

8 citations · 10 across the 4 of their papers we have counts for

collaborators
Showing 2022Show all

2 papers · 1 filter

eess.SY2022★ 1 cited

Closed-Form Minkowski Sum Approximations for Efficient Optimization-Based Collision Avoidance

James Guthrie, Marin Kobilarov, Enrique Mallada

Motion planning methods for autonomous systems based on nonlinear programming offer great flexibility in incorporating various dynamics, objectives, and constraints. One limitation…

math.OC2022

Inner and Outer Approximations of Star-Convex Semialgebraic Sets

James Guthrie

We consider the problem of approximating a semialgebraic set with a sublevel-set of a polynomial function. In this setting, it is standard to seek a minimum volume outer approximat…