Convex Cover of Collision-free Space for Trajectory Generation

About

Code implementation for collision-free space approximation as polytopes to cover the same homotopic path or trajectory.

Authors: Yuwei Wu, Igor Spasojevic, Pratik Chaudhari, and Vijay Kumar from the Kumar Lab.

Video Links: Youtube

Related Paper: Y. Wu, I. Spasojevic, P. Chaudhari and V. Kumar, "Towards Optimizing a Convex Cover of Collision-Free Space for Trajectory Generation," in IEEE Robotics and Automation Letters, vol. 10, no. 5, pp. 4762-4769, May 2025

If this repo helps your research, please cite our paper at:

@ARTICLE{10935632,
  author={Wu, Yuwei and Spasojevic, Igor and Chaudhari, Pratik and Kumar, Vijay},
  journal={IEEE Robotics and Automation Letters}, 
  title={Towards Optimizing a Convex Cover of Collision-Free Space for Trajectory Generation}, 
  year={2025},
  volume={10},
  number={5},
  pages={4762-4769}}

Acknowledgements

• Evaluation environments: kr_param_map
• Front-end Path Planning: We use OMPL planning library
• Planning Modules and Visualization: We use the module in GCOPTER

Run

The repo has been tested on 20.04 with ros-desktop-full installation.

1. Prerequisites

1.1 ROS and OMPL

Follow the guidance to install ROS and install OMPL:

sudo apt install libompl-dev

2. Build on ROS

git clone git@github.com:KumarRobotics/kr_opt_sfc.git && cd kr_opt_sfc/src
wstool init && wstool merge utils.rosinstall && wstool update
catkin build

3. Run

source devel/setup.bash
roslaunch opt_sfc sfc.launch

In "kr_opt_sfc/src/opt_sfc/config/sfc.yaml", change paramters to test different performance.

Maintaince

For any technical issues, please contact Yuwei Wu (yuweiwu@seas.upenn.edu, yuweiwu20001@outlook.com).