New publication at the European Conference on Mobile Robotics

New publication at the European Conference on Mobile Robotics

We have published a new work on predictive collision detection using GPU-Voxels. The paper should be online within this year at IEEE-Explore and on my Research-Gate profile.

The contribution is on the combination of RGB-D Flow to create Swept-Volumes out of predicted motions in a pointcloud and check those for collisions with Swept-Volumes of planned robot motions. That way we can trigger replanning steps around a moving obstacle or stop the robot, before collisions can occur.

A. Hermann, F. Mauch, K. Fischnaller, S. Klemm, A. Roennau, R. Dillmann,
“Anticipate your surroundings: Predictive collision detection between dynamic obstacles and planned robot trajectories on the GPU”
in European Conference on Mobile Robotics (ECMR 2015, Lincoln, September 2015)