Multi-Query Shortest-Path Problem in Graphs of Convex Sets

The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning, can be cast and solved as an SPP in GCS, yielding lower-cost...

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Veröffentlicht in:	arXiv.org 2024-09
Hauptverfasser:	Morozov, Savva, Marcucci, Tobia, Amice, Alexandre, Bernhard Paus Graesdal, Bosworth, Rohan, Parrilo, Pablo A, Tedrake, Russ
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Collision avoidance Convexity Lower bounds Motion planning Robot arms Robot dynamics Robotics Semidefinite programming Shortest-path problems
Online-Zugang:	Volltext
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