Implicit Swept Volume SDF: Enabling Continuous Collision-Free Trajectory Generation for Arbitrary Shapes
Jingping Wang, Tingrui Zhang, Qixuan Zhang, Chuxiao Zeng, Jingyi Yu, Chao Xu, Lan Xu, Fei Gao
Journal
SIGGRAPH 2024
Signed Distance Field
Swept Volume
Continuous Collision Avoidance
Trajectory Optimization
Generalized Semi-Infinite Programming
Motion Planning
Robotics