Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets Article Swipe
Thomas Cohn
,
Mark Petersen
,
Max Simchowitz
,
Russ Tedrake
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.15607/rss.2023.xix.057
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.15607/rss.2023.xix.057
Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem.Samplingbased planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent nonconvexities in the optimization landscape.The use of mixedinteger programming to encapsulate these nonconvexities and find globally optimal trajectories has recently shown great promise, thanks in part to tight convex relaxations and efficient approximation strategies that greatly reduce runtimes.These approaches were previously limited to Euclidean configuration spaces, precluding their use with mobile bases or continuous revolute joints.In this paper, we handle such scenarios by modeling configuration spaces as Riemannian manifolds, and we describe a reduction procedure for the zero-curvature case to a mixed-integer convex optimization problem.We demonstrate our results on various robot platforms, including producing efficient collision-free trajectories for a PR2 bimanual mobile manipulator.
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- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.15607/rss.2023.xix.057
- https://doi.org/10.15607/rss.2023.xix.057
- OA Status
- gold
- Cited By
- 15
- References
- 49
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- OpenAlex ID
- https://openalex.org/W4385430502
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https://openalex.org/W4385430502Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.15607/rss.2023.xix.057Digital Object Identifier
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Non-Euclidean Motion Planning with Graphs of Geodesically-Convex SetsWork title
- Type
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articleOpenAlex work type
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enPrimary language
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2023Year of publication
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2023-07-10Full publication date if available
- Authors
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Thomas Cohn, Mark Petersen, Max Simchowitz, Russ TedrakeList of authors in order
- Landing page
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https://doi.org/10.15607/rss.2023.xix.057Publisher landing page
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https://doi.org/10.15607/rss.2023.xix.057Direct link to full text PDF
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YesWhether a free full text is available
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goldOpen access status per OpenAlex
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https://doi.org/10.15607/rss.2023.xix.057Direct OA link when available
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Motion planning, Regular polygon, Computer science, Euclidean geometry, Motion (physics), Voronoi diagram, Combinatorics, Computer vision, Artificial intelligence, Mathematics, Robot, GeometryTop concepts (fields/topics) attached by OpenAlex
- Cited by
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15Total citation count in OpenAlex
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2025: 6, 2024: 8, 2023: 1Per-year citation counts (last 5 years)
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49Number of works referenced by this work
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.Riemannian | 95 |
| abstract_inverted_index.approaches | 66 |
| abstract_inverted_index.continuous | 81 |
| abstract_inverted_index.manifolds, | 96 |
| abstract_inverted_index.optimizers | 18 |
| abstract_inverted_index.platforms, | 119 |
| abstract_inverted_index.precluding | 74 |
| abstract_inverted_index.previously | 68 |
| abstract_inverted_index.problem.We | 112 |
| abstract_inverted_index.strategies | 61 |
| abstract_inverted_index.trajectory | 17 |
| abstract_inverted_index.challenging | 9 |
| abstract_inverted_index.demonstrate | 113 |
| abstract_inverted_index.encapsulate | 38 |
| abstract_inverted_index.programming | 36 |
| abstract_inverted_index.relaxations | 57 |
| abstract_inverted_index.manipulator. | 130 |
| abstract_inverted_index.mixedinteger | 35 |
| abstract_inverted_index.optimization | 31, 111 |
| abstract_inverted_index.trajectories | 3, 45, 124 |
| abstract_inverted_index.approximation | 60 |
| abstract_inverted_index.configuration | 72, 92 |
| abstract_inverted_index.landscape.The | 32 |
| abstract_inverted_index.mixed-integer | 109 |
| abstract_inverted_index.collision-free | 2, 123 |
| abstract_inverted_index.nonconvexities | 28, 40 |
| abstract_inverted_index.runtimes.These | 65 |
| abstract_inverted_index.zero-curvature | 105 |
| abstract_inverted_index.dimensionality, | 15 |
| abstract_inverted_index.high-dimensional | 5 |
| abstract_inverted_index.problem.Samplingbased | 10 |
| cited_by_percentile_year.max | 99 |
| cited_by_percentile_year.min | 89 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 4 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/11 |
| sustainable_development_goals[0].score | 0.7699999809265137 |
| sustainable_development_goals[0].display_name | Sustainable cities and communities |
| citation_normalized_percentile.value | 0.89668142 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | True |