WIAS Preprint No. 1892, (2013)

Collision detection between robots moving along specified trajectories


  • Feyeux, Nelson
  • Landry, Chantal

2010 Mathematics Subject Classification

  • 51M20 51K99 52B10 68T40


  • collision detection, distance computation, motion planning, robotics




An algorithm to detect collisions between robots moving along given trajectories is presented. The method is a combination of the adaptive dynamic collision checking developed by Schwarzer et al. and Lin and Canny's algorithm, which computes efficiently the distance between two polyhedra. The resulting algorithm is part of a global model that computes the optimal task assignment, sequencing and kinodynamic motion planning in a robotic work-cell.

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