剛体の自由空間：ケージング・経路非存在・狭路検出
Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection
2D/3D剛体の配置空間をスライス分解とボール和の双対図で近似し、経路の連結成分や狭路を検出するアルゴリズムを提案。化学の分子ケージ同定にも応用可能。
著者: Anastasiia Varava, J. Frederico Carvalho, Danica Kragic, Florian T. Pokorny
分類: cs.RO
原文アブストラクト
In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact path components and narrow passages in configuration space which are important for applications in robotic manipulation and path planning. Moreover, as we demonstrate, they are also applicable to identification of molecular cages in chemistry. Our algorithms are based on a decomposition of the resulting 3 and 6 dimensional configuration spaces into slices corresponding to a finite sample of fixed orientations in configuration space. We utilize dual diagrams of unions of balls and uniform grids of orientations to approximate the configuration space. We carry out experiments to evaluate the computational efficiency on a set of objects with different geometric features thus demonstrating that our approach is applicable to different object shapes. We investigate the performance of our algorithm by computing increasingly fine-grained approximations of the object's configuration space.
