相关论文: High Precision Real Time Collision Detection

Hamilton-Jacobi reachability analysis is a powerful technique used to verify the safety of autonomous systems. This method is very good at handling non-linear system dynamics with disturbances and flexible set representations. A drawback to…

In this paper, we present a more efficient GJK algorithm to solve the collision detection and distance query problems in 2D. We contribute in two aspects: First, we propose a new barycode-based sub-distance algorithm that does not only…

As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

Road safety continues to be a pressing global issue, with vehicle collisions imposing significant human, societal, and economic burdens. Human-machine shared collision avoidance in critical collision scenarios aims to aid drivers' accident…

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…

Generating a collision-free robot motion is crucial for safe applications in real-world settings. This requires an accurate model of all obstacle shapes within the constrained robot cell, which is particularly challenging and…

The Gilbert-Johnson-Keerthi (GJK) algorithm is an iterative improvement technique for finding the minimum distance between two convex objects. It can easily be extended to work with concave objects and return the pair of closest points. [4]…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…

To ease the development of robot learning in industry, two conditions need to be fulfilled. Manipulators must be able to learn high accuracy and precision tasks while being safe for workers in the factory. In this paper, we extend…

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…

High-fidelity simulation is essential for robotics research, enabling safe and efficient testing of perception, control, and navigation algorithms. However, achieving both photorealistic rendering and accurate physics modeling remains a…

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…

Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…

In the last years, several hierarchical frameworks have been proposed to deal with highly-redundant robotic systems. Some of that systems are expected to perform multiple tasks and physically to interact with the environment. However, none…

We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…

This article presents an easy distance field-based collision detection scheme to detect collisions of an object with its environment. Through the clever use of back-face culling and z-buffering, the solution is precise and very easy to…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…

In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…

We examine three different algorithms that enable the collision certificate method from [Bialkowski, et al.] to handle the case of a centralized multi-robot team. By taking advantage of symmetries in the configuration space of multi-robot…