Polytope Motion Planning
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Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions
arXiv:2606.09719v1 Announce Type: new Abstract: Autonomous mobile robots operating in tight environments require motion planning frameworks that account for the physical footprint of the robot. Simplifying the geometry to a point or a circle is conservative and discards information needed to successfully and safely traverse narrow passages. This work proposes a safe local motion planning and control method that guarantees that a polytopic robot footprint stays inside a continuously updated...