ICRA 2011 Paper Abstract


Paper WeP101.2

Behar, Evan (George Mason University), Lien, Jyh-Ming (George Mason University)

Dynamic Minkowski Sum of Convex Shapes

Scheduled for presentation during the Regular Sessions "Collision Avoidance" (WeP101), Wednesday, May 11, 2011, 13:55−14:10, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Collision Avoidance, Motion and Path Planning, Kinematics


Computing the Minkowski sums of the rotating objects is always done naively. The correspondences between the Minkowski sums are completely ignored. We propose a method that can efficiently update the Minkowski sums of rotating convex polyhedra. We show that our method is significantly more efficient than the method that recompute the Minkowski sum from scratch, in particular when the size of the input polyhedra are large and when the rotation is small between frames. From our experimental results, we show that the computation time of the proposed method grows slowly with respect to the size of the input comparing to the naive approach.



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