RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3242138
Abstract: Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures, resulting in excessive computation time. In this… read more here.
Keywords: planner; accelerated collision; free motion; collision ... See more keywords
GPU-Accelerated Collision Analysis of Vehicles in a Point Cloud Environment
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Computer Graphics and Applications"
DOI: 10.1109/mcg.2022.3177890
Abstract: We present a GPU-accelerated collision detection method for the navigation of vehicles in enclosed spaces represented using large point clouds. Our approach takes a CAD model of a vehicle, converts it to a volumetric representation… read more here.
Keywords: accelerated collision; point cloud; collision; gpu accelerated ... See more keywords