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What is Smooth Collision Avoidance Reformulation about?

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints. The method works for general convex obstacles and objects that can be represented as a union of convex sets. It exactly reformulates the distance function between two convex sets using convex optimization duality. Numerical experiments on a quadcopter navigation problem and automated parking problem show the method enables real-time trajectory planning in tight environme

Author

Alejandro Sans Jiménez

Language

EN