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Certified polyhedral decompositions of collision-free configuration space
We extend prior work and now enable the computation of collision-free polytopes in a rational parametrization of robot configuration space for more general systems while only using convex optimization.
[Submitted to IJRR]
Hongkai Dai, Alexandre Amice, Peter Werner, Annan Zhang, Russ Tedrake
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Certified polyhedral decompositions of collision-free configuration space