Research paper
Local avoidance with exact polyhedral geometry
Continuous-velocity collision constraints are constructed for non-strictly convex polyhedra without replacing their geometry with approximations. The proceedings abstract describes simple-object examples and application to the HRP-2 humanoid.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- A Local Collision Avoidance Method for Non-strictly Convex Polyhedra
- Publisher
- Robotics: Science and Systems Foundation
- Authors
- Fumio Kanehiro, Florent Lamiraux, Oussama Kanoun, Eiichi Yoshida, Jean-Paul Laumond
- DOI
- 10.15607/rss.2008.iv.020
- Proceedings publication date
- 2008-06-25
- Source language
- en
- Edition
- Robotics: Science and Systems IV
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
Continuous-velocity collision constraints are constructed for non-strictly convex polyhedra without replacing their geometry with approximations. The proceedings abstract describes simple-object examples and application to the HRP-2 humanoid.
Use and review
Local collision avoidance does not establish a globally feasible route. Geometry, sensing, moving-obstacle prediction and real-time execution assumptions need application-specific checks.
Sources & editions
A Local Collision Avoidance Method for Non-strictly Convex Polyhedra ↗
Robotics: Science and Systems Foundation · Robotics: Science and Systems IV
Owning RSS2008 proceedings title/authors/DOI/abstract and BibTeX checked. Full manuscript not acquired.