Related papers: Polyhedral Collision Detection via Vertex Enumerat…
In this work, we present a new efficient method for convex shape representation, which is regardless of the dimension of the concerned objects, using level-set approaches. Convexity prior is very useful for object completion in computer…
Fast and efficient collision detection is essential for motion generation in robotics. In this paper, we propose an efficient collision detection framework based on the Signed Distance Field (SDF) of robots, seamlessly integrated with a…
We present a method for guaranteed collision detection with toleranced motions. The basic idea is to consider the motion as a curve in the 12-dimensional space of affine displacements, endowed with an object-oriented Euclidean metric, and…
This paper presents a novel approach for the differentiable rendering of convex polyhedra, addressing the limitations of recent methods that rely on implicit field supervision. Our technique introduces a strategy that combines…
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…
Deciding whether the union of two convex polyhedra is itself a convex polyhedron is a basic problem in polyhedral computations; having important applications in the field of constrained control and in the synthesis, analysis, verification…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
Intersection detection between three-dimensional bodies has various applications in computer graphics, video game development, robotics as well as military industries. In some respects, entities do not want to disclose sensitive information…
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration…
We propose a neural network-based approach for collision detection with deformable objects. Unlike previous approaches based on bounding volume hierarchies, our neural approach does not require an update of the spatial data structure when…
To safely deploy legged robots in the real world it is necessary to provide them with the ability to reliably detect unexpected contacts and accurately estimate the corresponding contact force. In this paper, we propose a collision…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
Interference detection of arbitrary geometric objects is not a trivial task due to the heavy computational load imposed by implementation issues. The hierarchically structured bounding boxes help us to quickly isolate the contour of…
Polyhedral convex set optimization problems are the simplest optimization problems with set-valued objective function. Their role in set optimization is comparable to the role of linear programs in scalar optimization. Vector linear…
The effectiveness of Symmetric Positive Definite (SPD) manifold features has been proven in various computer vision tasks. However, due to the non-Euclidean geometry of these features, existing Euclidean machineries cannot be directly used.…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…
Collision detection plays a key role in the simulation of interacting rigid bodies. However, owing to its computational complexity current methods typically prioritize either maximizing processing speed or fidelity to real-world behaviors.…
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots,…