Induced Riemannian Metrics for Motion Planning with Constraints

arXiv:2609.25695 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Comments: 9 pages, 2 figures, 4 tables

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Decoupling — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Objective Function — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Riemannian Motion Policies
• Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds
• Direct Informed Sampling on Riemannian Manifolds via Loewner Order Lower Bounds
• Vectorizing Projection in Manifold-Constrained Motion Planning for Real-Time Whole-Body Control
• Newton methods for k-order Markov Constrained Motion Problems
• Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach
• Greedy Heuristics for Sampling-Based Motion Planning in High-Dimensional State Spaces

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