A Differentiable Signed Distance Representation for Continuous Collision Avoidance in Optimization-Based Motion Planning.

Published in: CoRR (2023)

Keyphrases

motion planning
collision avoidance
path planning
mobile robot
collision free
configuration space
potential field
trajectory planning
dynamic environments
signed distance
degrees of freedom
multi robot
obstacle avoidance
objective function
humanoid robot
path finding
optimal path
dimensionality reduction