Please check out our latest article titled "Path Quality Improvement of Sampling-Based Planners: An Efficient Optimization-Based Approach Using Analytical Gradients", where we propose two approaches based on nonlinear optimization to post-process computed paths for collision-free robot motions with decreased path lengths. Available here: https://link.springer.com/chapter/10.1007/978-3-031-06409-8_19
#robotics #optimization #pathplanning