From 809fcd4291e9a0437384ba4b8a2bab5649bf1e57 Mon Sep 17 00:00:00 2001 From: Adam Li <84liadam@gmail.com> Date: Thu, 16 May 2024 11:28:31 -0400 Subject: [PATCH] Fix some typos and such on the website --- index.markdown | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/index.markdown b/index.markdown index 6715270..4273de2 100644 --- a/index.markdown +++ b/index.markdown @@ -140,11 +140,11 @@ Spheres (SPARROWS). The proposed method combines reachability analysis with sphere-based collision primitives and an exact signed distance function to enable real-time motion planning that is certifiably-safe, yet less conservative than previous methods. This paper’s contributions are three-fold: -1. A novel reachable set representation composed of over- lapping spheres, +1. A novel reachable set representation composed of overlapping spheres, called the Spherical Forward Occupancy (SFO), that overapproximates the robot’s reachable set and is differentiable; 2. An algorithm that computes the exact signed distance between a point and a - three dimensional zonotope; + three-dimensional zonotope; 3. A demonstration that SPARROWS outperforms similar state-of-the-art methods on a set of challenging motion planning tasks @@ -155,9 +155,9 @@ than previous methods. This paper’s contributions are three-fold: # [Simulation Results](#simulation-results) ## Random Scenarios -The following videos demonstrate the performance of SPARROWS to other methods in randomly generated hard schenarios. -In each of these, SPARROWS is able to acheive the desired goal configuration while the others don't. -ARMTD does stop in a safe configuration, but it gets stuck and fails make it to the goal. +The following videos demonstrate the performance of SPARROWS to other methods in randomly generated hard scenarios. +In each of these, SPARROWS is able to achieve the desired goal configuration, while the others aren't. +ARMTD does stop in a safe configuration, but it gets stuck and fails to make it to the goal. On the other hand, MPOT and TRAJOPT both stop due to colliding with the environment. @@ -308,7 +308,7 @@ SPARROWS' performance on a handful of these scenarios is demonstrated below. # [Citation](#citation) -This project was developed in [Robotics and Optimization for Analysis of Human Motion (ROAHM) Lab](http://www.roahmlab.com/) at University of Michigan - Ann Arbor. +This project was developed in [Robotics and Optimization for Analysis of Human Motion (ROAHM) Lab](http://www.roahmlab.com/) at the University of Michigan - Ann Arbor. ```bibtex @article{michaux2024sparrows,