Guiding Nonconvex Trajectory Optimization with Hierarchical Graphs of Convex Sets
Collision-free motion planning with trajectory optimization is inherently nonconvex. Some of this nonconvexity is fundamental: the robot might need to make a discrete decision to go left around an obstacle or right around an obstacle. Some of this nonconvexity is potentially more benign: we might wa...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/156783 |