Motion Planning around Obstacles with Convex Optimization

@article{Marcucci2022MotionPA,
  title={Motion Planning around Obstacles with Convex Optimization},
  author={Tobia Marcucci and Mark E. Petersen and David von Wrangel and Russ Tedrake},
  journal={ArXiv},
  year={2022},
  volume={abs/2205.04422}
}
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to sampling-based planners that struggle in very high dimensions and with continuous differential constraints. Indeed, obstacles are the source of many textbook examples of problematic nonconvexities in the trajectory-optimization problem. Here we show that convex… 

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