待翻譯：PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05586v1 Announce Type: new Abstract: Autonomous robot navigation requires the rapid generation of obstacle-free regions for trajectory planning. However, existing corridor generators struggle to meet real-time, sensor-rate computational constraints. To resolve this bottleneck, we introduce PathCover, a framework driven by RISP; a novel randomized algorithm that constructs convex polytopes directly from raw point cloud data in expected linear time under a mild probabilistic elimination condition. PathCover generates sequences of overlapping, obstacle-free polytopes that safely constrain downstream MPC and trajectory optimization. We mathematically guarantee that the algorithm terminates in finite steps while ensuring continuous progress along any obstacle-free reference path. Extensive benchmarks on synthetic and real-world LiDAR datasets demonstrate an order-of-magnitude speedup over state-of-the-art methods while maintaining comparable corridor volumes. The complete pipeline is validated via high-fidelity quadrotor simulations and physical deployment on a quadrupedal robot navigating constrained environments using live LiDAR perception.
AI 服務暫時不可用，以下為來源正文，待恢復後補全翻譯。
--> [Submitted on 6 Aug 2026] Title:PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds View a PDF of the paper titled PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds, by Kunal S. Narkhede and 2 other authors View PDF HTML (experimental) Abstract:Autonomous robot navigation requires the rapid generation of obstacle-free regions for trajectory planning. However, existing corridor generators struggle to meet real-time, sensor-rate computational constraints. To resolve this bottleneck, we introduce PathCover, a framework driven by RISP; a novel randomized algorithm that constructs convex polytopes directly from raw point cloud data in expected linear time under a mild probabilistic elimination condition. PathCover generates sequences of overlapping, obstacle-free polytopes that safely constrain downstream MPC and trajectory optimization. We mathematically guarantee that the algorithm terminates in finite steps while ensuring continuous progress along any obstacle-free reference path. Extensive benchmarks on synthetic and real-world LiDAR datasets demonstrate an order-of-magnitude speedup over state-of-the-art methods while maintaining comparable corridor volumes. The complete pipeline is validated via high-fidelity quadrotor simulations and physical deployment on a quadrupedal robot navigating constrained environments using live LiDAR perception. Comments: 13 pages, 5 figures Subjects: Robotics (cs.RO) Cite as: arXiv:2608.05586 [cs.RO] (or arXiv:2608.05586v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.05586 arXiv-issued DOI via DataCite (pending registration) Submission history From: Kunal Sanjay Narkhede [view email] [v1] Thu, 6 Aug 2026 04:17:13 UTC (4,770 KB) Full-text links: Access Paper: View a PDF of the paper titled PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds, by Kunal S. Narkhede and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)