Certifying Bimanual RRT Motion Plans in a Second
Alexandre Amice,Peter Werner,Russ Tedrake,Alexandre Amice,Peter Werner,Russ Tedrake
We present an efficient method for certifying non-collision for piecewise-polynomial motion plans in algebraic reparametrizations of configuration space. Such motion plans include those generated by popular randomized methods including RRTs and PRMs, as well as those generated by many methods in trajectory optimization. Based on Sums-of-Squares optimization, our method provides exact, rigorous cer...
