{"ID":2841323,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.12203","arxiv_id":"2511.12203","title":"Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps","abstract":"We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle displacements to enable a feasible path for the robot. The first stage proceeds by computing a trajectory through the obstacles while minimizing an appropriate objective function. In the second stage, these obstacles are displaced to make the computed robot trajectory feasible, that is, collision-free. Several examples are provided that successfully demonstrate our approach on two distinct classes of constraint displacement problems.","short_abstract":"We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle displacements to enable a feasible path for the robot. The first stage proceeds by computing...","url_abs":"https://arxiv.org/abs/2511.12203","url_pdf":"https://arxiv.org/pdf/2511.12203v1","authors":"[\"Antony Thomas\",\"Fulvio Mastrogiovanni\",\"Marco Baglietto\"]","published":"2025-11-15T13:14:30Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\"]","methods":"[]","has_code":false}