Ahmed H. Qureshi

NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning

Qingyi Chen, Zachary Kingston, Ahmed H. Qureshi

Safe multi-arm motion planning is a challenging problem in robotics due to its high dimensionality, coupled configuration space, and complex collision constraints. Centralized planners are capable of coordinating all arms but often face scalability limitations, restricting applic…Read more