Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps

• URL: http://arxiv.org/abs/2511.12203v1
• Date: Sat, 15 Nov 2025 13:14:30 GMT
• Title: Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps
• Abstract summary: We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles.<n>Several examples are provided that successfully demonstrate our approach on two distinct classes of constraint displacement problems.
• Score: 2.80151930790841
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle displacements to enable a feasible path for the robot. The first stage proceeds by computing a trajectory through the obstacles while minimizing an appropriate objective function. In the second stage, these obstacles are displaced to make the computed robot trajectory feasible, that is, collision-free. Several examples are provided that successfully demonstrate our approach on two distinct classes of constraint displacement problems.

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