惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

Y
Y Combinator Blog
Cyber Security Advisories - MS-ISAC
Cyber Security Advisories - MS-ISAC
博客园 - 司徒正美
Blog — PlanetScale
Blog — PlanetScale
博客园 - 聂微东
月光博客
月光博客
量子位
大猫的无限游戏
大猫的无限游戏
Stack Overflow Blog
Stack Overflow Blog
奇客Solidot–传递最新科技情报
奇客Solidot–传递最新科技情报
The Cloudflare Blog
P
Proofpoint News Feed
B
Blog RSS Feed
美团技术团队
腾讯CDC
C
Check Point Blog
Engineering at Meta
Engineering at Meta
F
Fortinet All Blogs
N
Netflix TechBlog - Medium
Recent Announcements
Recent Announcements
J
Java Code Geeks
S
SegmentFault 最新的问题
WordPress大学
WordPress大学
宝玉的分享
宝玉的分享

cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Time-optimal Convexified Reeds-Shepp Paths on a Sphere
Sixu Li, Deepak Prakash Kumar, Swaroop Darbha, Yang Zhou · 2025-04-02 · via cs.RO updates on arXiv.org

This article studies the time-optimal path planning problem for a convexified Reeds-Shepp (CRS) vehicle on a unit sphere, capable of both forward and backward motion, with speed bounded in magnitude by 1 and turning rate bounded in magnitude by a given constant. For the case in which the turning-rate bound is at least 1, using Pontryagin's Maximum Principle and a phase-portrait analysis, we show that the optimal path connecting a given initial configuration to a desired terminal configuration consists of at most six segments drawn from three motion primitives: tight turns, great circular arcs, and turn-in-place motions. A complete classification yields a finite sufficient list of 23 optimal path types with closed-form segment angles derived. The complementary case in which the turning-rate bound is less than 1 is addressed via an equivalent reformulation. The proposed formulation is applicable to underactuated satellite attitude control, spherical rolling robots, and mobile robots operating on spherical or gently curved surfaces. The source code for solving the time-optimal path problem and visualization is publicly available at https://github.com/sixuli97/Optimal-Spherical-Convexified-Reeds-Shepp-Paths.