KavrakiLab/vamp

Support for VCC collision checking against point clouds

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#110 opened on Jun 4, 2026

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enhancementgood first issue

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Description

vamp-vcc is a cool new collision-checking algorithm for robots against point clouds. We should include it!

Performance enhancements to try:

  • Flatten search using index arithmetic to avoid having a layer for each dimension.
    • note: this would make MVTs immutable. A worthy tradeoff? Or perhaps we write a custom allocator...
  • Order collision checks to move radially from the center.
  • Use locality-respecting order for buffers to improve memory locality.
  • Use gather instructions for parallel memory loading.
  • (later) Play around with other extension ideas....

Contributor guide

Research direction
Investigate the VCC algorithm and its integration into vamp's collision checking pipeline. Start by reading the existing collision checker code and understanding the buffer structures.
Tech stack
cpp
Domain
autonomous driving
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
C++SIMDMotion Planning
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
40