{"paper":{"title":"GeoPro-VO: Dynamic Obstacle Avoidance with Geometric Projector Based on Velocity Obstacle","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hongye Su, Jihao Huang, Jun Zeng, Xuemin Chi, Zhitao Liu","submitted_at":"2024-03-15T06:25:22Z","abstract_excerpt":"Optimization-based approaches are widely employed to generate optimal robot motions while considering various constraints, such as robot dynamics, collision avoidance, and physical limitations. It is crucial to efficiently solve the optimization problems in practice, yet achieving rapid computations remains a great challenge for optimization-based approaches with nonlinear constraints. In this paper, we propose a geometric projector for dynamic obstacle avoidance based on velocity obstacle (GeoPro-VO) by leveraging the projection feature of the velocity cone set represented by VO. Furthermore,"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.10043","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/2403.10043/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"}