In a geometric context, a collision or proximity query reports information about the relative
configuration or placement of two objects. Some of the common examples of such queries …

We present a novel optimization-based retraction algorithm to improve the performance of
sample-based planners in narrow passages for 3D rigid robots. The retraction step is …

Collision detection algorithms has been investigated since decades. Consequently, there
already exist a wide spectrum of different approaches. In this chapter, we give a broad …

The configuration space is a fundamental concept that is widely used in algorithmic robotics.
Many applications in robotics, computer-aided design, and related areas can be reduced to …

Penetration depth (PD) is a distance metric that is used to describe the extent of overlap
between two intersecting objects. Most of the prior work in PD computation has been …

Classical RRT algorithm is blind to efficiently explore configuration space for expanding the
tree through a narrow passage when solving a motion planning (MP) problem. Although …

This paper proposes a path planner for serial manipulators with a large number of degrees
of freedom, working in cluttered workspaces. Based on the variational principles, this …

We present a new method for efficiently approximating the global penetration depth between
two rigid objects using machine learning techniques. Our approach consists of two phases …

We present a real-time algorithm that finds the Penetration Depth (PD) between general
polygonal models based on iterative and local optimization techniques. Given an in-collision …

We present a simple algorithm to check for path non-existence for a low-degree-of-freedom
(DOF) robot among static obstacles. Our algorithm is based on approximate cell …