Título:
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Real-time self-collision detection algorithms for tensegrity systems
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Autor/a:
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Cefalo, Massimo; Mirats Tur, Josep Maria
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Otros autores:
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Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
Abstract:
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This work addresses the problem of real-time self-collision detection for a movable tensegrity structure. We show that it can be tackled as the collision detection between two generic cylinders moving in R3. It is
a simplified version of the more general problem of dynamic collision detection between two general shaped rigid bodies in the space. Two algorithms are proposed. The first presented approach is based on the exact value of the distance between two cylinders, the second is based on a new theorem which allows to estimate the exact distance for a given maximum desired error. In some circumstances, the second approach can be preferred because faster. |
Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial -Planning -Artificial intelligence -Collisions detection
Tensegrity
Heuristic algorithm -Planificació -Intel·ligència artificial -Classificació INSPEC::Cybernetics::Artificial intelligence::Planning (artificial intelligence)::Path planning::Collision avoidance |
Derechos:
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Tipo de documento:
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Artículo - Versión publicada Artículo |
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