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Journal Articles IEEE International Conference on Robotics and Automation (ICRA) Year : 2023

A minimum swept-volume metric structure for configuration space

Abstract

Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure with well-defined and computable geodesics on its configuration space. This general result applies to concrete classes of articulated objects such as robot manipulators, and we demonstrate as a proof of concept the computation of geodesic paths for a free flying rod and planar robotic arms as well as their use in path planning with many obstacles.
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Dates and versions

hal-03856704 , version 1 (16-11-2022)
hal-03856704 , version 2 (21-11-2022)

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Yann de Mont-Marin, Jean Ponce, Jean-Paul Laumond. A minimum swept-volume metric structure for configuration space. IEEE International Conference on Robotics and Automation (ICRA), 2023, pp.3686-3692. ⟨10.48550/arXiv.2211.11811⟩. ⟨hal-03856704v2⟩
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