Zachary Kingston

ReVAMP: Vector-Accelerated Motion Planning for Kinematically-Constrained Systems via Reparameterization

This work explores a new axis of vectorization built upon reparameterizing the planning space through analytic IK, and shows that the planner can synthesize plans in microseconds to milliseconds for high dimensional systems, with complex constraints, up to 10x faster than the current state-of-the-art.