STAR-Filter employs starshaped set construction as a fast filter to generate convex polytopes for collision-free space approximation, achieving lower computation times and reduced conservativeness in noisy environments.
Towards optimiz- ing a convex cover of collision-free space for trajectory generation.IEEE Robotics and Automation Letters, 10(5):4762–4769
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STAR-Filter: Efficient Convex Free-Space Approximation via Starshaped Set Filtering in Noisy Environments
STAR-Filter employs starshaped set construction as a fast filter to generate convex polytopes for collision-free space approximation, achieving lower computation times and reduced conservativeness in noisy environments.