Continuous collision detection of pairs of robot motions under velocity uncertainty
Artikel i vetenskaplig tidskrift, 2021

In automotive manufacturing, production systems typically involve multiple robots and today are being individualized by utilizing the concept of digital twins. Therefore, the robot programs need to be verified for each individual product. A crucial aspect is to avoid collisions between robots by velocity tuning: this involves an efficient analysis of pairs of robot paths and determining if swept volumes of (sub) paths are disjoint. In general, velocity uncertain motions require disjoint sweep volumes to be safe. We optimize a clearance lower bounding function to provide new sample points for clearance computations. Due to the computational cost of each distance query, our sampling strategy aims to maximize the information gained at each query. The algorithm terminates when robot paths are verified to be disjoint or a collision is detected. Our approach for disjoint paths is inspired by the technique for continuous collision detection known as conservative advancement. Our tests indicate that the proposed sampling method is reliable and computationally much faster than creating and intersecting octrees representing the swept volumes.

Computational Geometry

Motion and Path Planning

Continuous Collision Detection

Multi-Robot Systems


Edvin Åblad

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Domenico Spensieri

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Robert Bohlin

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Ann-Brith Strömberg

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

IEEE Transactions on Robotics

1552-3098 (ISSN) 19410468 (eISSN)

Vol. 37 5 1780-1791

Smart Assembly 4.0

Stiftelsen för Strategisk forskning (SSF) (RIT15-0025), 2016-05-01 -- 2021-06-30.

Interlinked combinatorial and geometrical optimization problems in an autonomous automotive manufacturing industry

Stiftelsen för Strategisk forskning (SSF) (RIT15-0025), 2017-08-15 -- 2022-09-05.

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik, 2017-08-15 -- 2022-09-05.


Produktionsteknik, arbetsvetenskap och ergonomi


Robotteknik och automation


Hållbar utveckling




Grundläggande vetenskaper



Relaterade dataset

DOI: 10.1109/TRO.2021.3050011

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