2 papers
cs.RO2026
An Incremental Sampling and Segmentation-Based Approach for Motion Planning Infeasibility
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to…
cs.RO2025
Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stag…