Hanglin Zhou

2 accepted papers

2021

A Fast and Approximate Medial Axis Sampling Technique

ICRA 2021poster

One key aspect to planning safe motions for a robot requires maintaining a minimum distance from obstacles. The medial axis, or the set of all points equidistant to two or more obstacles, is useful for planning in this context. However, it is computationally intensive to compute this structure direc…

Cited by 2 Source ↗Scholar ↗

2018

A Topology-Based Path Similarity Metric and its Application to Sampling-Based Motion Planning

Jory Denny, Kaiwen Chen, Hanglin Zhou

IROS 2018poster

Many applications of robotic motion planning benefit from considering multiple homotopically distinct paths rather than a single path from start to goal. However, determining whether paths represent different homotopy classes can be difficult to compute. We propose metrics for efficiently approximat…

Cited by 3 Source ↗Scholar ↗