3 papers
cs.RO2026
Hölder Signed Distance: A Differentiable, Signed, Parallelizable Metric for Robotics
Felipe Bartelt, Ali Umut Kaypak, Anthony Tzes +3
Computing distances between sets is essential in robotic motion planning and control, where differentiable gradients enable real-time optimization. The Euclidean Signed Distance Fu…
cs.RO2026
Efficient Computation of Distance Functions for Navigation Vector Fields in Lie Groups
Vinicius M. Gonçalves, João Baião, Felipe Bartelt +4
Vector-field-based methods are widely used for robot control and are often applied to the path-tracking problem. Some vector field approaches require repeatedly computing the dista…
cs.RO2026
Vector Fields for Path Following on Lie Groups with Application in Robot Control
Felipe Bartelt, Luciano C. A. Pimenta, Weijia Yao +1
Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In m…