Related papers: Local object crop collision network for efficient …
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Creation of collision objects for 3D models is a time-consuming task, requiring modelers to manually place primitives such as bounding boxes, capsules, spheres, and other convex primitives to approximate complex meshes. While there has been…
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…
We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain an unconstrained convex problem. Our solver has proven…
This paper presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way soft-rigid coupling, intersection-free guarantees, and…
This paper presents a set of simple and intuitive robot collision detection algorithms that show substantial scaling improvements for high geometric complexity and large numbers of collision queries by leveraging hardware-accelerated ray…
We present a framework for generating convex approximations of complex contact models, incorporating experimentally validated models like Hunt & Crossley coupled with Coulomb's law of friction alongside the principle of maximum dissipation.…
Contact-implicit trajectory optimization (CITO) enables the automatic discovery of contact sequences, but most methods rely on fine time discretization to capture all contact events accurately, which increases problem size and runtime while…
This paper pushes the performance of cloth simulation, making the simulation interactive even for high-resolution garment models while keeping every triangle untangled. The penetration-free guarantee is inspired by the interior point…
Accurate frictional contact is critical in simulating the assembly of rod-like structures in the practical world, such as knots, hairs, flagella, and more. Due to their high geometric nonlinearity and elasticity, rod-on-rod contact remains…
Differentiable simulation establishes the mathematical foundation for solving challenging inverse problems in computer graphics and robotics, such as physical system identification and inverse dynamics control. However, rigor in frictional…
A composite quadric model (CQM) is an object modeled by piecewise linear or quadric patches. We study the continuous detection problem of a special type of CQM objects which are commonly used in CAD/CAM, that is, the boundary surfaces of…
Discrete Collision Detection (DCD) is a fundamental task in several domains including particle-based physics simulations. Efficient DCD uses indexing structures such as Bounding Volume Hierarchy (BVH), but accelerating irregular BVH…
This study explores the capabilities of WebGPU, an emerging web graphics paradigm, for real-time cloth simulation. Traditional WebGL-based methods have been in handling complex physical simulations due to their emphasis on graphics…
Finding nearly accurate distance between two or more nearly intersecting three-dimensional (3D) objects is vital especially for collision determination such as in virtual surgeon simulation and real-time car crash simulation. Instead of…
Autonomous robots are increasingly prevalent in our society, emerging in medical care, transportation vehicles, and home assistance. These robots rely on motion planning and collision detection to identify a sequence of movements allowing…
Stochastic distributed optimization methods that solve an optimization problem over a multi-agent network have played an important role in a variety of large-scale signal processing and machine leaning applications. Among the existing…
Contact-implicit motion planning-embedding contact sequencing as implicit complementarity constraints-holds the promise of leveraging continuous optimization to discover new contact patterns online. Nevertheless, the resulting optimization,…
In this work, we leverage GPUs to construct probabilistically collision-free convex sets in robot configuration space on the fly. This extends the use of modern motion planning algorithms that leverage such representations to changing…
This research addresses the challenging problem of visual collision detection in very complex and dynamic real physical scenes, specifically, the vehicle driving scenarios. This research takes inspiration from a large-field looming…