An iterative inner-outer polyhedral approximation algorithm solves the ray-intersection formulation of growth distance for convex sets with representable support functions and delivers state-of-the-art speed with primal-dual feasibility and monotone convergence.
The Open Motion Planning Library,
2 Pith papers cite this work. Polarity classification is still indexing.
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
Two new vector-accelerated primitives for multi-robot motion validation and first-conflict detection deliver over 1100X validation speedup and over 850X planning speedup on tested manipulator, rigid-body, and heterogeneous robot teams.
citing papers explorer
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A Ray Intersection Algorithm for Fast Growth Distance Computation Between Convex Sets
An iterative inner-outer polyhedral approximation algorithm solves the ray-intersection formulation of growth distance for convex sets with representable support functions and delivers state-of-the-art speed with primal-dual feasibility and monotone convergence.
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Multi-Robot Motions in Milliseconds: Vector-Accelerated Primitives for Sampling-Based Planning
Two new vector-accelerated primitives for multi-robot motion validation and first-conflict detection deliver over 1100X validation speedup and over 850X planning speedup on tested manipulator, rigid-body, and heterogeneous robot teams.