Robo-Centric ESDF: A Fast and Accurate Whole-Body Collision Evaluation Tool for Any-Shape Robotic Planning

Shuang Geng, Qianhao Wang, Lei Xie, Chao Xu, Yanjun Cao, Fei Gao. Robo-Centric ESDF: A Fast and Accurate Whole-Body Collision Evaluation Tool for Any-Shape Robotic Planning. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, MI, USA, October 1-5, 2023. pages 290-297, IEEE, 2023. [doi]

Abstract

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