Faster algorithms for growing collision-free convex polytopes in robot configuration space
The International Journal of Robotics Research
Published online on May 22, 2026
Abstract
The International Journal of Robotics Research, Ahead of Print.
We propose two novel algorithms for constructing convex probabilistically collision-free polytopes in robot configuration space. Finding these polytopes enables the application of stronger motion-planning frameworks such as trajectory optimization with ...
We propose two novel algorithms for constructing convex probabilistically collision-free polytopes in robot configuration space. Finding these polytopes enables the application of stronger motion-planning frameworks such as trajectory optimization with ...