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dRVG: Quadtree-Guided, Resolution-Complete Online Motion Planning for Polygonal Robots in Unknown Environments — arXiv:2609.31412

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.31412
License (as archived): CC0-1.0
Archived: 2026-10-08T03:15:04.059Z
SHA-256 of the archived text: 802f8d3cbb59e7939f2fa72fac1124915f74d014758d747bd8ebb47e596fe106
Stable URL of this page: https://metraipolis.com/documento/dc_7ca886cdf7cb

How to cite

dRVG: Quadtree-Guided, Resolution-Complete Online Motion Planning for Polygonal Robots in Unknown Environments — arXiv:2609.31412 — arXiv (en), https://arxiv.org/abs/2609.31412 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_7ca886cdf7cb (Metraipolis archive dc_7ca886cdf7cb, sha256 802f8d3cbb59e7939f2fa72fac1124915f74d014758d747bd8ebb47e596fe106)

BibTeX

@misc{dc7ca886cdf7cb,
  title = {dRVG: Quadtree-Guided, Resolution-Complete Online Motion Planning for Polygonal Robots in Unknown Environments — arXiv:2609.31412},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.31412},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_7ca886cdf7cb; sha256 802f8d3cbb59e7939f2fa72fac1124915f74d014758d747bd8ebb47e596fe106},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.31412. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

We present the dynamic rotation-stacked visibility graph (dRVG), an online motion planner that guides polygonal robots to specified goals in initially unknown, static environ- ments. It merges local roadmaps from successive observations to plan collision-free translations and rotations without a uniform position grid. A spatial quadtree schedules sensing goals across regions to reduce repeated visits while retaining all orientation configurations for routing. Under exact sensing and geometric computation and star-shaped robot and envelope assumptions, dRVG with center scans is resolution-complete relative to full- map RVG at the same angular resolution. In experiments using footprint scans, dRVG solves all 140 cases across 20 difficult maps and seven angular resolutions within a 20 s planning budget, with a median planning time of 1.18 s at 360 orientation layers. Six microMVP demonstrations illustrate the complete online planning loop on a physical robot.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-28 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.31412 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T02:58:08.992Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-28?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).