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About this paper
Gage MacLin, Mason Peterson, Camilla Tabasso, Venanzio Cichella, Joshua Migdal, Tye Brady, Taskin Padir
The planner lets quadrupeds use independent forward and lateral velocities, with heading-dependent speed limits, while navigating around obstacles. Bernstein polynomials certify velocity bounds and obstacle clearance throughout each planned segment using control points. In static simulations, it matched a conservative model at 50/50 successes but reported mission times of 9.7 versus 16.5 seconds; certification covers only each solve’s obstacle snapshot.
Summary by alphaXiv.
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