Whole-body Motion Planning on Tree- and pillar-like environments
0.113TimeEllipse
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| EllipseObstacle representation=Ellipses, Note=Ablation study2025.11 | 0.113 | -0.0049 | 1.383 | 0.0001 | |
| ProposedObstacle representation=Superquadrics (SQ)2025.11 | 0.128 | 0.0644 | 1.375 | 0.0016 | |
| MPPIRollouts (N)=502025.11 | 0.552 | 0.0039 | 1.721 | 0.0057 | |
| RRT*Sampling space=zsys, Collision checking=Geometric2025.11 | 105.8 | 0.0314 | 1.565 | 0.0032 |