Haoze Dong

Homotopy-Aware Corridor Generation without Predefined Reference Paths

Haoze Dong, Minghan Li, Meng Guo, Zhongkui Li

Generating safe corridors is essential for collision-free robotic motion planning, yet most existing methods rely on predefined reference paths, which bias corridor geometry and implicitly limit the homotopy classes that can be explored. We propose a reference-path-free corridor…Read more