Direction-aware convex free regions plus Lipschitz-based continuous safety certification enable reliable collision-free navigation for robots in unknown cluttered environments.
Fast iterative region inflation for computing large 2-d/3-d convex regions of obstacle-free space,
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Safe Navigation in Unknown and Cluttered Environments via Direction-Aware Convex Free-Region Generation
Direction-aware convex free regions plus Lipschitz-based continuous safety certification enable reliable collision-free navigation for robots in unknown cluttered environments.