نسخة أولية وصول مفتوح
GJK-CBF: Control Barrier Functions for Convex Rigid Body Collision Avoidance on SE(3)
Collision avoidance among convex bodies is a fundamental problem in robotics. Control Barrier Functions (CBFs) provide a practical framework for real-time safety filtering due to their computational efficiency. For general convex bodies, exact separation measures, such as distance or scaling factor, are typically compu …