791 research outputs found
Separation-Sensitive Collision Detection for Convex Objects
We develop a class of new kinetic data structures for collision detection
between moving convex polytopes; the performance of these structures is
sensitive to the separation of the polytopes during their motion. For two
convex polygons in the plane, let be the maximum diameter of the polygons,
and let be the minimum distance between them during their motion. Our
separation certificate changes times when the relative motion of
the two polygons is a translation along a straight line or convex curve,
for translation along an algebraic trajectory, and for
algebraic rigid motion (translation and rotation). Each certificate update is
performed in time. Variants of these data structures are also
shown that exhibit \emph{hysteresis}---after a separation certificate fails,
the new certificate cannot fail again until the objects have moved by some
constant fraction of their current separation. We can then bound the number of
events by the combinatorial size of a certain cover of the motion path by
balls.Comment: 10 pages, 8 figures; to appear in Proc. 10th Annual ACM-SIAM
Symposium on Discrete Algorithms, 1999; see also
http://www.uiuc.edu/ph/www/jeffe/pubs/kollide.html ; v2 replaces submission
with camera-ready versio
Collision-free motion of two robot arms in a common workspace
Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed
Threadable Curves
We define a plane curve to be threadable if it can rigidly pass through a
point-hole in a line L without otherwise touching L. Threadable curves are in a
sense generalizations of monotone curves. We have two main results. The first
is a linear-time algorithm for deciding whether a polygonal curve is
threadable---O(n) for a curve of n vertices---and if threadable, finding a
sequence of rigid motions to thread it through a hole. We also sketch an
argument that shows that the threadability of algebraic curves can be decided
in time polynomial in the degree of the curve. The second main result is an O(n
polylog n)-time algorithm for deciding whether a 3D polygonal curve can thread
through hole in a plane in R^3, and if so, providing a description of the rigid
motions that achieve the threading.Comment: 16 pages, 12 figures, 12 references. v2: Revised with brief addendum
after Mikkel Abrahamsen pointed us to a relevant reference on "sweepable
polygons." v3: Major revisio
Towards building a team of intelligent robots
Topics addressed include: collision-free motion planning of multiple robot arms; two-dimensional object recognition; and pictorial databases (storage and sharing of the representations of three-dimensional objects)
Collision detection between robots moving along specified trajectories
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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Collision detection between robots moving along specified trajectories
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 Cannys
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
Bounding Volume Hierarchies for Collision Detection
In virtual environment world, performing collision detection between various 3D objects requires sophisticated steps to be followed in order to properly visualize their effect. It is challenging due to the fact that multiple objects undergo various motion depending on the application’s genre. It is however an essential challenge to be resolved since it’s many use in the computer animation, simulation and robotic industry. Thus, object intersection between rigid bodies has become one of the most important areas in order to bring realism to simulation and animation
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