Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles

Moritz Eckhoff,Dennis Knobbe,Henning Zwirnmann,Abdalla Swikir,Sami Haddadin,Moritz Eckhoff,Dennis Knobbe,Henning Zwirnmann,Abdalla Swikir,Sami Haddadin

One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Al-though several methods have been introduced to tackle this, most are unsuitable for real-time applications and require carefully handcrafted obstacle descriptions. In this work,...