Hybrid Safety Certificate for Fast Collision Checking in Sampling-Based Motion Planning

Safety certificates in robot configuration space have been shown as an efficient collision checking method. However, this method can only be applied to very simple problems since constructing the configuration space obstacles is often intractable. In this paper we propose a hybrid safety certificate...

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Veröffentlicht in:IEEE robotics and automation letters 2023-01, Vol.8 (1), p.1-8
Hauptverfasser: Shi, Shenglei, Chen, Jiankui, Li, Yiqun
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Sprache:eng
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