DiffCo: Autodifferentiable Proxy Collision Detection With Multiclass Labels for Safety-Aware Trajectory Optimization

Zhi, Yuheng, Nikhil Das, Michael Yip
IEEE Transactions on Robotics. doi: 10.1109/TRO.2022.3153789.
2022
https://link.springer.com/article/10.1007/s00464-022-09074-4