Efficient probabilistic collision detection for non-convex shapes

Jae Sung Park; Chonhyon Park; Dinesh Manocha

ICRA 2017poster36 citations

Efficient probabilistic collision detection for non-convex shapes

Jae Sung Park, Chonhyon Park, Dinesh Manocha

Abstract

We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability distributions. We present a fast new algorithm for a pair of convex objects, and extend the approach to non-convex models using hierarchical representations. We highlight the performance of our algorithms with various convex and non-convex shapes on complex synthetic benchmarks and trajectory planning benchmarks for a 7-DOF Fetch robot arm.

BibTeX

@inproceedings{icra2017_efficientprobabi,
  title = {Efficient probabilistic collision detection for non-convex shapes},
  author = {Jae Sung Park and Chonhyon Park and Dinesh Manocha},
  booktitle = {ICRA 2017},
  year = {2017}
}