Closed-Form Minkowski Sum Approximations for Efficient Optimization-Based Collision Avoidance.
James GuthrieMarin KobilarovEnrique MalladaPublished in: ACC (2022)
Keyphrases
- closed form
- collision avoidance
- efficient optimization
- minkowski sum
- convex polyhedra
- path planning
- mobile robot
- dynamic environments
- optimization methods
- partition function
- path finding
- point correspondences
- closed form solutions
- fuzzy neural network
- convex relaxation
- machine learning
- convex hull
- feature extraction