4 papers · 1 filter
Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles
Peter Werner, Tobia Marcucci, Daniela Rus
We present a biconvex approach for minimum-time motion planning around convex obstacles that is guaranteed to converge, is anytime, and supports derivative constraints to arbitrary…
Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning
Peter Werner, Richard Cheng, Tom Stewart +2
In this work, we leverage GPUs to construct probabilistically collision-free convex sets in robot configuration space on the fly. This extends the use of modern motion planning alg…
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…
Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs
Peter Werner, Alexandre Amice, Tobia Marcucci +2
Many computations in robotics can be dramatically accelerated if the robot configuration space is described as a collection of simple sets. For example, recently developed motion p…