Geometry is a venture capital firm. Its humanoid robotics portfolio includes Feather Robotics.
Round size: $8M
This article presents a distributed cooperative-planning framework for heterogeneous robots operating in shared and space-constrained environments. We propose novel geometry-aware collision-free constraints that support low-conservatism representations of heterogeneous robot shapes. These constraints are analytical and separable, making them naturally suited for distributed optimization. Leveraging this separable nature, we develop a distributed planning framework based on the alternating direction method of multipliers that decomposes the computational burden across robots. The framework directly handles nonlinear and nonconvex coupling constraints without linearization, and any converged solution satisfies the Karush–Kuhn–Tucker conditions of the original global cooperative-planning problem. To improve per-robot computational efficiency, acceleration techniques including dimension reduction and block coordinate descent are incorporated. Moreover, clear geometric interpretations of th
Manual entity-ingest supporting URL (2026-09-25)
Manual entity-ingest supporting URL (2026-09-25)