{"id":3319,"date":"2025-08-05T05:18:02","date_gmt":"2025-08-05T05:18:02","guid":{"rendered":"http:\/\/www.labren.org\/mm\/?p=3319"},"modified":"2025-08-05T13:02:01","modified_gmt":"2025-08-05T13:02:01","slug":"were-excited-to-share-that-our-research-paper-improving-efficiency-in-path-planning-tangent-line-decomposition-algorithm-led-by-tian-yu-has-been-accepted-at-icra2025-%f0%9f%8e%89","status":"publish","type":"post","link":"http:\/\/www.labren.org\/mm\/news\/were-excited-to-share-that-our-research-paper-improving-efficiency-in-path-planning-tangent-line-decomposition-algorithm-led-by-tian-yu-has-been-accepted-at-icra2025-%f0%9f%8e%89\/","title":{"rendered":"We\u2019re excited to share that our research paper, &#8220;Improving Efficiency in Path Planning: Tangent Line Decomposition Algorithm&#8221;, led by Tian Yu, has been accepted at #ICRA2025! \ud83c\udf89"},"content":{"rendered":"\n<p>In this work, we introduce the Tangent Line Decomposition (TLD) algorithm, a new approach to finding collision-free paths in 2D polygon and 3D polyhedron environments.<\/p>\n\n\n\n<p>TLD simplifies path planning by breaking it into smaller steps, focusing on one key obstacle at a time. Instead of building a complete graph, it uses a best-first search to reduce unnecessary computations. While the paths generated by TLD may not always be optimal, they can serve as a helpful starting point for other algorithms to refine further.<\/p>\n\n\n\n<p>In our experiments, TLD showed improvements over the baseline LTA* method, achieving faster planning speeds in both 2D and 3D environments. The approach is also flexible, working in both convex and concave obstacle settings when combined with convex decomposition.<\/p>\n\n\n\n<p>We look forward to sharing more details at ICRA 2025 and learning from others in the field!<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/media.licdn.com\/dms\/image\/v2\/D5622AQFbyT_vQDoyAQ\/feedshare-shrink_2048_1536\/B56ZUzZSteHQAo-\/0\/1740324023742?e=1756944000&amp;v=beta&amp;t=WEV_6z5lb3ykE5Thq88m0erbYfPdLHevHDQGo2i91r0\" alt=\"No alternative text description for this image\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/media.licdn.com\/dms\/image\/v2\/D5622AQF4ZZ06j7m7Gg\/feedshare-shrink_800\/B56ZUzZStkGUAk-\/0\/1740324024084?e=1756944000&amp;v=beta&amp;t=iVq1P4h9oA-RClygtYft5mh9XXFT2c6Z64MCX4ZdSfM\" alt=\"No alternative text description for this image\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>In this work, we introduce the Tangent Line Decomposition (TLD) algorithm, a new approach to finding collision-free paths in 2D polygon and 3D polyhedron environments. TLD simplifies path planning by breaking it into smaller steps, focusing on one key obstacle at a time. Instead of building a complete graph, it\u2026 <a class=\"continue-reading-link\" href=\"http:\/\/www.labren.org\/mm\/news\/were-excited-to-share-that-our-research-paper-improving-efficiency-in-path-planning-tangent-line-decomposition-algorithm-led-by-tian-yu-has-been-accepted-at-icra2025-%f0%9f%8e%89\/\">Continue reading<\/a><\/p>\n","protected":false},"author":17,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"ngg_post_thumbnail":0,"footnotes":""},"categories":[4],"tags":[],"class_list":["post-3319","post","type-post","status-publish","format-standard","hentry","category-news"],"_links":{"self":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3319","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/users\/17"}],"replies":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/comments?post=3319"}],"version-history":[{"count":1,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3319\/revisions"}],"predecessor-version":[{"id":3320,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3319\/revisions\/3320"}],"wp:attachment":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/media?parent=3319"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/categories?post=3319"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/tags?post=3319"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}