A Hessian-free correction to Rimon-Koditschek gradient dynamics guarantees convergence to the goal and obstacle avoidance for quadratic potentials with ellipsoidal obstacles of any eccentricity.
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Navigation of a Quadratic Potential with Ellipsoidal Obstacles
A Hessian-free correction to Rimon-Koditschek gradient dynamics guarantees convergence to the goal and obstacle avoidance for quadratic potentials with ellipsoidal obstacles of any eccentricity.