Shortest walks in graphs of convex sets, guided by SDP-computed cost-to-go lower bounds, provide a unified approximate planner for robot motion, skill chaining, and hybrid control.
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Mixed Discrete and Continuous Planning using Shortest Walks in Graphs of Convex Sets
Shortest walks in graphs of convex sets, guided by SDP-computed cost-to-go lower bounds, provide a unified approximate planner for robot motion, skill chaining, and hybrid control.