2 papers
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
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…