Differentiable Collision Avoidance Using Collision Primitives
Simon Zimmermann,Matthias Busenhart,Simon Huber,Roi Poranne,Stelian Coros,Simon Zimmermann,Matthias Busenhart,Simon Huber,Roi Poranne,Stelian Coros
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between robots and obstacles. These computations can easily become a bottleneck, as they do not scale well with the complexity of the robots or the environment. To imp...
