Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization

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• Title: Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization
• ArXiv ID: 2509.26459
• Date: 2025-09-30
• Authors: ** 정보 없음 (논문에 저자 정보가 제공되지 않았습니다.) **

📝 Abstract

Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration constraints between objects, resulting in a non-trivial and computationally expensive problem. This makes the use of optimization-based methods for planning and control challenging. In this paper, we present a method to efficiently enforce non-penetration of sets while performing optimization over their configuration, which is directly applicable to problems like collision-aware trajectory optimization. We introduce novel differentiable conditions with analytic expressions to achieve this. To enforce non-collision between non-smooth bodies using these conditions, we introduce a method to approximate polytopes as smooth semi-algebraic sets. We present several numerical experiments to demonstrate the performance of the proposed method and compare the performance with other baseline methods recently proposed in the literature.

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