2025
Efficient Collision Detection for Long and Slender Robotic Links in Euclidean Distance Fields: Application to a Forestry Crane
Marc-Philip Ecker, Bernhard Bischof, Minh Nhat Vu, Christoph Fröhlich, Tobias Glück, Wolfgang Kemmetmüller
IROS 2025
Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the environment as a voxelized Euclidean distance field, where robots are typically approximated by spheres. However, for larg