3 papers
cs.RO2023
Certifying Bimanual RRT Motion Plans in a Second
Alexandre Amice, Peter Werner, Russ Tedrake
We present an efficient method for certifying non-collision for piecewise-polynomial motion plans in algebraic reparametrizations of configuration space. Such motion plans include…
cs.RO2023
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…
cs.RO2023
Certified Polyhedral Decompositions of Collision-Free Configuration Space
Hongkai Dai, Alexandre Amice, Peter Werner +2
Understanding the geometry of collision-free configuration space (C-free) in the presence of task-space obstacles is an essential ingredient for collision-free motion planning. Whi…