Space Representation and Collision Detection for Practical Motion Planning

Spatial Representations for Collision Detection and Motion Planning: This research deals with Spatial Reasoning for robot motion planning. Traditionally, this problem and collision detection, a subproblem has been dealt with by means of geometric algorithms. Though sometimes the term geometric reasoning is used, they are composed of computational geometry and heuristic search. We aim at improving these techniques by using adequate spatial representations and reasoning as a way to expedite and simplify the process. The object representation will be capable of accepting input from a vision system. Different reasoning paradigms are used for gross motion planning and efficient collision detection. B. Martínez, M. Pérez, J. Traver and A. P. del Pobil.