ExactCollisionCheckingofRobotPaths.pptVIP

Exact Collision Checking of Robot Paths Fabian Schwarzer Mitul SahaJean-Claude Latombe Computer Science Department Stanford University Motivation (1) Motivation (2) Motivation (3) Motivation (3) Previous Approaches to Dynamic Collision Testing Bounding-volume (BV) hierarchies? Discretization issue Feature-tracking methods [Lin, Canny, 91] [Mirtich, 98] V-Clip [Cohen, Lin, Manocha, Ponamgi, 95] I-Collide [Basch, Guibas, Hershberger, 97] KDS? Geometric complexity issue with highly non-convex objects Swept-volume intersection [Cameron, 85] [Foisy, Hayward, 93]? Swept-volumes are exp