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Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets
2023
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 opt…
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Computer Science

Study of computation

Computer science is the study of computation, information, and automation. Computer science spans theoretical disciplines (such as algorithms, theory of computation, and information theory) to applied disciplines (including the design and implementation of hardware and software).

Algorithms and data structures are central to computer science. The theory of computation concerns abstract models of computation and general classes of problems that can be solved using them. The fields of cryptography and computer security involve studying the means for secure communication and preventing security vulnerabilities. Computer graphics and computational geometry address the generation of images.

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Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets
2023
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 …
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Euclidean Geometry
Motion
Voronoi Diagram
Combinatorics
Computer Vision
Artificial Intelligence
Mathematics
Robot
Geometry