GPU-accelerated configuration space decomposition for robot motion planning
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CSDecomp: Configuration Space Decomposition Toolbox
GPU-accelerated configuration space decomposition for robot motion planning.
CSDecomp provides GPU-accelerated collision checking and algorithms for computing approximate convex decompositions of robot configuration spaces, including Dynamic Roadmaps (DRMs) and the Edge Inflation Zero-Order (EI-ZO) algorithm.
- Paper: Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning
- Project Website: https://sites.google.com/view/GPUpolytopes
- GitHub: https://github.com/wernerpe/csdecomp
Requirements
- Linux (x86_64)
- NVIDIA GPU with CUDA support
- Python 3.10, 3.11, or 3.12
Installation
pip install csdecomp
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