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The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making.
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Werner, P., Amice, A., Marcucci, T., Rus, D., Tedrake, R.: Approximating robot configuration spaces with few convex sets using clique covers of visibility graphs. International Conference on Robotics and Automation (2024)
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