Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection
| Autor: | Danica Kragic, J. Frederico Carvalho, Florian T. Pokorny, Anastasiia Varava |
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| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Work (thermodynamics) Computer science 02 engineering and technology 010402 general chemistry Topology 01 natural sciences Computer Science - Robotics 020901 industrial engineering & automation Artificial Intelligence Electrical and Electronic Engineering business.industry Applied Mathematics Mechanical Engineering Robotics Construct (python library) Free space Computational geometry 0104 chemical sciences Modeling and Simulation Path (graph theory) Artificial intelligence business Robotics (cs.RO) Software |
| Zdroj: | The International Journal of Robotics Research |
| Popis: | In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact path components and narrow passages in configuration space which are important for applications in robotic manipulation and path planning. Moreover, as we demonstrate, they are also applicable to identification of molecular cages in chemistry. Our algorithms are based on a decomposition of the resulting 3 and 6 dimensional configuration spaces into slices corresponding to a finite sample of fixed orientations in configuration space. We utilize dual diagrams of unions of balls and uniform grids of orientations to approximate the configuration space. We carry out experiments to evaluate the computational efficiency on a set of objects with different geometric features thus demonstrating that our approach is applicable to different object shapes. We investigate the performance of our algorithm by computing increasingly fine-grained approximations of the object's configuration space. submitted to IJRR |
| Databáze: | OpenAIRE |
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