PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds

arXiv:2608.05586 · cs.RO · Submitted 2026-08-06 · Read on arXiv

cs.RO

Submitted: 2026-08-06

Updated: 2026-09-20

Code: https://github.com/kunalnk123690/PathCover

Terminology

• Point Clouds — 14× in this paper · explained in 2 episodes
• Benchmark — 7× in this paper · explained in 2 episodes
• Safe Corridor — 7× in this paper
• Point Cloud Data — 2× in this paper · explained in 2 episodes
• Randomized Iterative Space Partitioning — 2× in this paper
• Abstraction — 1× in this paper · explained in 1 episode
• Center of Mass — 1× in this paper
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Model Predictive Control — 1× in this paper
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Pruning — 1× in this paper · explained in 4 episodes

Sources

• Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming
• Faster Algorithms for Growing Collision-Free Convex Polytopes in Robot Configuration Space
• Generating Large Convex Polytopes Directly on Point Clouds
• GPU Accelerated Voxel Grid Generation for Fast MAV Exploration

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