obstacle avoidance
ellipsoidal approximation
YeeKal
โข
โข
"#obstacle avoidance"
HRM: Highway RoadMap
S. Ruan, K. L. Poblete, H. Wu, Q. Ma and G. S. Chirikjian, "Efficient Path Planning in Narrow Passages for Robots With Ellipsoidal Components," in IEEE Transactions on Robotics, vol. 39, no. 1, pp. 110-127, Feb. 2023, doi: 10.1109/TRO.2022.3187818. - 2023 TRO / ellipsoidal approximation - code