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Acceleration of real-time Proximity Query for dynamic active constraints
2013
2013 International Conference on Field-Programmable Technology (FPT)
Proximity Query (PQ) is a process to calculate the relative placement of objects. It is a critical task for many applications such as robot motion planning, but it is often too computationally demanding for real-time applications, particularly those involving human-robot collaborative control. This paper derives a PQ formulation which can support non-convex objects represented by meshes or cloud points. We optimise the proposed PQ for reconfigurable hardware by function transformation and
doi:10.1109/fpt.2013.6718355
dblp:conf/fpt/ChauKCTLTCL13
fatcat:zelw6lklqfbgtavhhbzdkmg32m