OPENTECHNICAL PUBLICATION
OT-2026-000002714

Motion planning and/or collision determination using continuous environment model

Published: 2026-09-15T19:14:51.079034Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002714
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

A system and method for estimating a collision probability between a robot and
a radiance field within a three-dimensional environment includes: determining
forward occupancy information indicating potential over-approximating volumes
that are able to be occupied by a robot disposed at a starting position;
modeling an environment of the robot using a radiance field; and computing a
probability of collision between the robot and an obstacle within the
environment based on the forward occupancy information and the radiance field.
The estimation method is useful for robotic trajectory determination that
involves discretizing a trajectory of the robot into a sequence of trajectory
segments over time subintervals; computing an upper-bound for a probability of
collision between the robot and a radiance field at each of the time
subintervals using a Gaussian Splatting model that normalizes 3D Gaussians
within the radiance field; and performing real-time trajectory adjustments
based on the computed collision probability upper-bounds.

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OpenTechnical publication OT-2026-000002714
Published 2026-09-15T19:14:51.079034Z
https://opentechnical.org/p/OT-2026-000002714