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cs.RO2024
Faster Algorithms for Growing Collision-Free Convex Polytopes in Robot Configuration Space
Peter Werner, Thomas Cohn, Rebecca H. Jiang +4
We propose two novel algorithms for constructing convex collision-free polytopes in robot configuration space. Finding these polytopes enables the application of stronger motion-pl…
cs.RO2024
Planning Shorter Paths in Graphs of Convex Sets by Undistorting Parametrized Configuration Spaces
Shruti Garg, Thomas Cohn, Russ Tedrake
Optimization based motion planning provides a useful modeling framework through various costs and constraints. Using Graph of Convex Sets (GCS) for trajectory optimization gives gu…