LARC: Lazy Adaptive Reachability Certification of Robot Manipulator Trajectories
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.29767v1 Announce Type: new Abstract: Discrete trajectory checks can miss collisions between sampled robot states. Reachability-based certification bounds motion between states, but uniform time partitions waste computation where clearance is large. We present lazy adaptive reachability certification (LARC), which checks a planned trajectory by bisecting only intervals with an inconclusive clearance test.