By Topic

Flexible exploitation of space coherence to detect collisions of convex polyhedra

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Mirolo, C. ; Dipartimento di Matematica e Inf., Udine Univ., Italy ; Pagello, E.

The paper presents a fast algorithm to compute collision translations for pairs of convex polyhedra with some interesting features. From a theoretical viewpoint, besides the novelty of the approach, the polylog asymptotic trend in the average case is as good as that of the best algorithms proposed to solve the similar problems. On the other hand, the measured performances to detect possible collisions from scratch are satisfactory, and this is especially true in cases where the bodies do not collide. However, the most peculiar feature is a simple and flexible mechanism to exploit spatial coherence in a continuous range, which distinguishes this algorithm from all the other proposals we know. Furthermore, the nature of the approach is such that the self-tuning capability is attained at negligible additional costs even for unrelated collision tests. After a brief outline of the main ideas characterizing the approach, a set of numerical results are summarized. The proposed algorithm may be appropriate to plan collision-free paths, both online and off-line, on the basis of fine-grain descriptions of the objects in the workspace.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001