Computational aspects for the Koditschek-Rimon navigation function
Florin Stoican, Theodor-Gabriel Nicu, Daniel Ioan, Ionela Prodan · IFAC-PapersOnLine · 2025
We revisit here the Koditschek-Rimon navigation function idea for the static sphere world case. While the theoretical scafolding is well-known, details about the numerical computations of the associated bounds are lacking in the literature. We present a full implementation of these bounds and propose future directions for reducing their conservatism.