"Model Simplification for Efficient Collision Detection in Robotics" by Alexander Visser
Motion planning for industrial robots is a computationally intensive task due to the massive number of potential motions between any two configurations. Calculating all possibilities is generally not feasible. Instead, many motion planners sample a sub-set of the available space until a viable solution is found. Simplifying models to improve collision detection performance, a significant component of motion planning, results in faster and more capable motion planners. Several approaches for simplifying models to improve collision detection performance have been presented in the literature. How...
Source: uow.edu.au