2017
DOI: 10.48550/arxiv.1712.06021
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Bendable Cuboid Robot Path Planning with Collision Avoidance using Generalized $L_p$ Norms

Nak-seung P. Hyun,
Patricio A. Vela,
Erik I. Verriest

Abstract: Optimal path planning problems for rigid and deformable (bendable) cuboid robots are considered by providing an analytic safety constraint using generalized Lp norms. For regular cuboid robots, level sets of weighted Lp norms generate implicit approximations of their surfaces. For bendable cuboid robots a weighted Lp norm in polar coordinates implicitly approximates the surface boundary through a specified level set. Obstacle volumes, in the environment to navigate within, are presumed to be approximately desc… Show more

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