{"paper":{"title":"GPU-Accelerated Polygonal Signed Distance Functions for Real-Time Collision Avoidance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jongeun Choi, Taekwon Ga","submitted_at":"2026-07-05T13:46:59Z","abstract_excerpt":"Optimization-based local planning and control require high-rate collision-avoidance constraint evaluation over a prediction horizon. In obstacle-dense environments, where feasible space is limited and the constraints become increasingly complex, the computational workload often dominates the control-cycle runtime. The resulting bottleneck motivates collision-avoidance constraints that combine computational efficiency with geometric fidelity. The proposed Polygonal Signed Distance Function (PSDF) is a geometry-exact signed distance function between a convex polygonal robot footprint and obstacl"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.04310","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.04310/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}