Uploaded March 2023 | Updated September 2026, 3 days ago
The video presents the paper "A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization" (ICRA 2023).
Collision evaluation is of essential importance in various applications. However, existing methods are either cumbersome to calculate or not exact. Therefore, considering the
cost of implementation, most whole-body planning works, which require evaluating collision between robots and environments, struggle to tradeoff between accuracy and computationally efficiency. In this paper, we propose a zero-gap whole-body collision evaluation that can be formulated as low-dimensional linear programming. This evaluation can be solved analytically in linear complexity. Moreover, the method provides a gradient efficiently, making it accessible to optimization-based applications. Additionally, this method provides support for obstacles represented by either points or hyperplanes. Experiments on the widely used aerial and car-like robots validate the versatility and practicality of our method.
The video presents the paper "A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization" (ICRA 2023).
Collision evaluation is of essential importance in various applications. However, existing methods are either cumbersome to calculate or not exact. Therefore, considering the
cost of implementation, most whole-body planning works, which require evaluating collision between robots and environments, struggle to tradeoff between accuracy and computationally efficiency. In this paper, we propose a zero-gap whole-body collision evaluation that can be formulated as low-dimensional linear programming. This evaluation can be solved analytically in linear complexity. Moreover, the method provides a gradient efficiently, making it accessible to optimization-based applications. Additionally, this method provides support for obstacles represented by either points or hyperplanes. Experiments on the widely used aerial and car-like robots validate the versatility and practicality of our method.
![Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios [S2]](https://i.ytimg.com/vi/fBwW93Zq9ss/mqdefault.jpg "Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios [S2]
Video for the paper Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios.
[S2] - Simulations and benchmarks.")
