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cs.RO2024
Multi-Query Shortest-Path Problem in Graphs of Convex Sets
Savva Morozov, Tobia Marcucci, Alexandre Amice +4
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant pro…
cs.RO2024
GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets
Shao Yuan Chew Chia, Rebecca H. Jiang, Bernhard Paus Graesdal +2
We consider large-scale, implicit-search-based solutions to Shortest Path Problems on Graphs of Convex Sets (GCS). We propose GCS*, a forward heuristic search algorithm that genera…
cs.RO2024
Towards Tight Convex Relaxations for Contact-Rich Manipulation
Bernhard Paus Graesdal, Shao Yuan Chew Chia, Tobia Marcucci +4
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such t…