Generalized penetration depth computation
Proceedings of the 2006 ACM symposium on Solid and physical modeling
C-DIST: efficient distance computation for rigid and articulated models in configuration space
Proceedings of the 2007 ACM symposium on Solid and physical modeling
Generalized penetration depth computation
Computer-Aided Design
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
Fast generation of multiple collision-free and linear trajectories in dynamic environments
IEEE Transactions on Robotics
Deformable Proximity Queries and Their Application in Mobile Manipulation Planning
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Shortest paths to obstacles for a polygonal dubins car
IEEE Transactions on Robotics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Path planning for improved visibility using a probabilistic road map
IEEE Transactions on Robotics
Learning task models in ill-defined domain using an hybrid knowledge discovery framework
Knowledge-Based Systems
Safe human-robot interaction based on dynamic sphere-swept line bounding volumes
Robotics and Computer-Integrated Manufacturing
Algorithms and theory of computation handbook
Autonomous robot manipulator-based exploration and mapping system for bridge maintenance
Robotics and Autonomous Systems
Reactive Path Planning for Micro Air Vehicles Using Bearing-only Measurements
Journal of Intelligent and Robotic Systems
Development and field testing of the FootFall planning system for the ATHLETE robots
Journal of Field Robotics
Sparse roadmap spanners for asymptotically near-optimal motion planning
International Journal of Robotics Research
International Journal of Robotics Research
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Static collision checking amounts to testing a given configuration of objects for overlaps. In contrast, the goal of dynamic checking is to determine whether all configurations along a continuous path are collision-free. While there exist effective methods for static collision detection, dynamic checking still lacks methods that are both reliable and efficient. A common approach is to sample paths at some fixed, prespecified resolution and statically test each sampled configuration. But this approach is not guaranteed to detect collision whenever one occurs, and trying to increase its reliability by refining the sampling resolution along the entire path results in slow checking. This paper introduces a new method for testing path segments in c-space or collections of such segments, that is both reliable and efficient. This method locally adjusts the sampling resolution by comparing lower bounds on distances between objects in relative motion with upper bounds on lengths of curves traced by points of these moving objects. Several additional techniques and heuristics increase the checker's efficiency in scenarios with many moving objects (e.g., articulated arms and/or multiple robots) and high geometric complexity. The new method is general, but particularly well suited for use in probabilistic roadmap (PRM) planners, where it is critical to determine as quickly as possible whether given path segments collide, or not. Extensive tests, in particular on randomly generated path segments and on multisegment paths produced by PRM planners, show that the new method compares favorably with a fixed-resolution approach at "suitable" resolution, with the enormous advantage that it never fails to detect collision.