Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs
Peter Werner,Alexandre Amice,Tobia Marcucci,Daniela Rus,Russ Tedrake,Peter Werner,Alexandre Amice,Tobia Marcucci,Daniela Rus,Russ Tedrake
Many computations in robotics can be dramatically accelerated if the robot configuration space is described as a collection of simple sets. For example, recently developed motion planners rely on a convex decomposition of the free space to design collision-free trajectories using fast convex optimization. In this work, we present an efficient method for approximately covering complex configuration...
