# QCQP-Tunneling: Ellipsoidal Constrained Agent Navigation

arXiv: https://arxiv.org/abs/2302.13307 · HTML: https://mlsanity.com/paper/2302.13307/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 21 references that are in the map.
- First posted on arXiv 26 Feb 2023.

## Builds on (most cited first, 1 of 1)

- [Convex optimization](https://mlsanity.com/paper/2106.01946/) (2021)

## Abstract (arXiv)

This paper presents a convex-QCQP based novel path planning algorithm named ellipsoidal constrained agent navigation (ECAN), for a challenging problem of online path planning in completely unknown and unseen continuous environments. ECAN plans path for the agent by making a tunnel of overlapping ellipsoids, in an online fashion, through the environment. Convex constraints in the ellipsoid-formation step circumvent collision with the obstacles. The problem of online-tunneling is solved as a convex-QCQP. This paper assumes no constraints on shape of the agent and the obstacles. However, to make the approach clearer, this paper first introduces the framework for a point-mass agent with point-size obstacles. After explaining the underlying principle in drawing an ellipsoid tunnel, the framework is extended to the agent and obstacles having finite area (2d space) and finite-volume (3d-space).