Author

Yu-Zhe Wang

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Preprint Aug 2026

LARC: Lazy Adaptive Reachability Certification of Robot Manipulator Trajectories

Discrete trajectory checks can miss collisions between sampled robot states. Reachability-based certification bounds motion between states, but uniform time partitions waste computation where clearance is large. We present lazy adaptive reachability certification (LARC), which checks a planned trajectory by bisecting o...

Yu Feng, Hao Wu, Yu-Zhe Wang et al. · 0 citations