Computational aspects for the Koditschek-Rimon navigation function
We revisit here the Koditschek-Rimon navigation function idea for the static sphere world case. While the theoretical scafolding is well-known, details about the numerical computations of the associated bounds are lacking in the literature. We present a full implementation of these bounds and propose future directions for reducing their conservatism.
Authors
- Florin Stoican (ORCID: https://orcid.org/0000-0002-4550-9113)
- Theodor-Gabriel Nicu
- Daniel Ioan (ORCID: https://orcid.org/0000-0002-9868-6391)
- Ionela Prodan
Institutions
- Universitatea Națională de Știință și Tehnologie Politehnica București (RO)
Publication Details
- Journal
- IFAC-PapersOnLine
- Published
- 2025-01-01
- DOI
- https://doi.org/10.1016/j.ifacol.2025.09.539
- Primary Topic
- Robotic Path Planning Algorithms
- Type
- article
- Field-Weighted Citation Impact
- 0.00