Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866912712068431872 |
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| author | Thomas, Antony Mastrogiovanni, Fulvio Baglietto, Marco |
| author_facet | Thomas, Antony Mastrogiovanni, Fulvio Baglietto, Marco |
| contents | We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle displacements to enable a feasible path for the robot. The first stage proceeds by computing a trajectory through the obstacles while minimizing an appropriate objective function. In the second stage, these obstacles are displaced to make the computed robot trajectory feasible, that is, collision-free. Several examples are provided that successfully demonstrate our approach on two distinct classes of constraint displacement problems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_12203 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps Thomas, Antony Mastrogiovanni, Fulvio Baglietto, Marco Robotics Artificial Intelligence We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle displacements to enable a feasible path for the robot. The first stage proceeds by computing a trajectory through the obstacles while minimizing an appropriate objective function. In the second stage, these obstacles are displaced to make the computed robot trajectory feasible, that is, collision-free. Several examples are provided that successfully demonstrate our approach on two distinct classes of constraint displacement problems. |
| title | Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2511.12203 |