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LARC: Lazy Adaptive Reachability Certification of Robot Manipulator Trajectories

arXiv · AI, language, vision and robotics · article · Aug 30, 2026 · UTC

Discrete trajectory checks can miss collisions between sampled robot states. Reachability-based certification bounds motion between states, but uniform time partitions waste computation where clearance is large. We present lazy adaptive reachability certification (LARC), which checks a planned trajectory by bisecting only intervals with an inconclusive clearance test. For piecewise-cubic Hermite joint trajectories, the method bounds link occupancy using midpoint capsules inflated by exact componentwise speed maxima. Certified intervals covering the trajectory provide continuous-time external-o

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