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cs.RO2022★ 1 cited
A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization
Qianhao Wang, Zhepei Wang, Liuao Pei +2
Collision evaluation is of vital importance in various applications. However, existing methods are either cumbersome to calculate or have a gap with the actual value. In this paper…
cs.RO2022
Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection
Tianyu Liu, Qianhao Wang, Xingguang Zhong +4
The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not b…