Kui Sun

GCS-Bridging: Restoring Connectivity of Disconnected Convex Sets for Graph-of-Convex-Sets Motion Planning

Graph-of-Convex-Sets (GCS)-based trajectory optimization represents collision-free regions in configuration space as a finite collection of convex sets and directly performs collision-free trajectory planning over these sets, substantially simplifying the planning process. However, existing GCS-based trajectory plannin...