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Collision detection between robots moving along specified trajectories

Please always quote using this URN:urn:nbn:de:0296-matheon-12935
  • An algorithm to detect collisions between robots moving along given trajectories is presented. The method is a combination of the adaptive dynamic collision checking developed by Schwarzer et al. and Lin and Canny's algorithm, which computes efficiently the distance between two polyhedra. The resulting algorithm is part of a global model that computes the optimal task assignment, sequencing and kinodynamic motion planning in a robotic work-cell.

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Metadaten
Author:Nelson Feyeux, Chantal Landry
URN:urn:nbn:de:0296-matheon-12935
Referee:Fredi Tröltzsch
Document Type:Preprint, Research Center Matheon
Language:English
Date of first Publication:2014/05/20
Release Date:2014/05/20
Tag:collision detection, distance computation,; motion planning, robotics
Institute:Weierstraß-Institut für Angewandte Analysis und Stochastik (WIAS)
MSC-Classification:51-XX GEOMETRY (For algebraic geometry, see 14-XX) / 51Kxx Distance geometry / 51K99 None of the above, but in this section
51-XX GEOMETRY (For algebraic geometry, see 14-XX) / 51Mxx Real and complex geometry / 51M20 Polyhedra and polytopes; regular figures, division of spaces [See also 51F15]
52-XX CONVEX AND DISCRETE GEOMETRY / 52Bxx Polytopes and polyhedra / 52B10 Three-dimensional polytopes
68-XX COMPUTER SCIENCE (For papers involving machine computations and programs in a specific mathematical area, see Section {04 in that areag 68-00 General reference works (handbooks, dictionaries, bibliographies, etc.) / 68Txx Artificial intelligence / 68T40 Robotics [See also 93C85]
Preprint Number:1062
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