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cs.RO2023
Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization
Tingrui Zhang, Jingping Wang, Chao Xu +2
Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environmen…
cs.RO2023
Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment
Jingping Wang, Long Xu, Haoran Fu +5
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by specia…