Signed-Distance Navigation for Arbitrary-Footprint Robots
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EXACT-MPPI: Exact Signed-Distance Navigation for Arbitrary-Footprint Robots from Point Clouds via Path Integral Control
arXiv:2605.29663v2 Announce Type: replace Abstract: Ground robots often carry payloads, implements, or other attachments that turn their effective footprint into complex, non-convex shapes. Navigating safely through clutter then requires reasoning about this true geometry, yet most local planners simplify it with convex or inflated proxies and rasterize sensor data into occupancy grids or distance fields. Both choices eliminate feasible motions when clearance is comparable to the footprint...