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We propose a general framework for geometric approximation of circular arcs by parametric polynomial curves. The approach is based on constrained uniform approximation of an error function by scalar polynomials. The system of nonlinear…
This paper proposes a GPU-accelerated optimization framework for collision avoidance problems where the controlled objects and the obstacles can be modeled as the finite union of convex polyhedra. A novel collision avoidance constraint is…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…
In this paper, we develop deterministic fully dynamic algorithms for computing approximate distances in a graph with worst-case update time guarantees. In particular, we obtain improved dynamic algorithms that, given an unweighted and…
In this paper, we address the real-time risk-bounded safety verification problem of continuous-time state trajectories of autonomous systems in the presence of uncertain time-varying nonlinear safety constraints. Risk is defined as the…
We propose an algorithm for generating explicit solutions of multiparametric mixed-integer convex programs to within a given suboptimality tolerance. The algorithm is applicable to a very general class of optimization problems, but is most…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
We provide an algorithm of constructing a rectifiable curve between two sufficiently close points of a proximally smooth set in a uniformly convex and uniformly smooth Banach space. Our algorithm returns a reasonably short curve between two…
We consider the problem of computing the Fr\'echet distance between two curves for which the exact locations of the vertices are unknown. Each vertex may be placed in a given uncertainty region for that vertex, and the objective is to place…
We propose sublinear algorithms for probabilistic testing of the discrete and continuous Fr\'echet distance - a standard similarity measure for curves. We assume the algorithm is given access to the input curves via a query oracle: a query…
We study a general smallest intersecting ball problem and its soft-margin variant in high-dimensional Euclidean spaces for input objects that are compact and convex. These two problems link and unify a series of fundamental problems in…
We describe an algorithm for solving an important geometric problem arising in computer-aided manufacturing. When cutting away a region from a solid piece of material -- such as steel, wood, ceramics, or plastic -- using a rough tool in a…
As a parametric polynomial curve family, B\'ezier curves are widely used in safe and smooth motion design of intelligent robotic systems from flying drones to autonomous vehicles to robotic manipulators. In such motion planning settings,…
This research focuses on trajectory planning problems for autonomous vehicles utilizing numerical optimal control techniques. The study reformulates the constrained optimization problem into a nonlinear programming problem, incorporating…
We prove explicit bounds on the number of lattice points on or near a convex curve in terms of geometric invariants such as length, curvature, and affine arclength. In several of our results we obtain the best possible constants. Our…
Properties of a parametric curve in R^3 are often determined by analysis of its piecewise linear (PL) approximation. For Bezier curves, there are standard algorithms, known as subdivision, that recursively create PL curves that converge to…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined…
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-critical scenarios requiring high frequency. To meet this…