Deep Prediction of Swept Volume Geometries: Robots and Resolutions
John Baxter,Mohammad R. Yousefi,Satomi Sugaya,Marco Morales,Lydia Tapia,John Baxter,Mohammad R. Yousefi,Satomi Sugaya,Marco Morales,Lydia Tapia
Computation of the volume of space required for a robot to execute a sweeping motion from a start to a goal has long been identified as a critical primitive operation in both task and motion planning. However, swept volume computation is particularly challenging for multi-link robots with geometric complexity, e.g., manipulators, due to the non-linear geometry. While earlier work has shown that de...
