A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization.
Qianhao WangZhepei WangLiuao PeiChao XuFei GaoPublished in: ICRA (2023)
Keyphrases
- optimization algorithm
- learning algorithm
- improved algorithm
- experimental evaluation
- detection algorithm
- cost function
- high accuracy
- dynamic programming
- closed form
- preprocessing
- linear complexity
- path planning
- optimization method
- theoretical analysis
- simulated annealing
- linear programming
- times faster
- linear systems
- optimal solution
- computational complexity
- k means
- search space
- multiscale
- expectation maximization
- collision detection
- quadratic programming
- brute force
- convex hull
- combinatorial optimization
- significant improvement
- multi objective
- matching algorithm
- np hard
- computational cost
- markov random field