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Fast filtering algorithms can highly improve the narrow-stage performance of continuous collision detection (CCD). The algorithm by Tang et al. [1] is a fast solution to this problem, which casts it into a geometric constrain. We show that, after slight modification, this earlier work is interestingly equivalent to the recent result by Zhang and Liu [2] that is directly derived from algebraic theorems...
Robots' continuous physical behaviors are controlled by discrete instructions generated using complicated control algorithms. In such a robotic hybrid system, guaranteeing robot's navigation safety can be more challenging than those discrete controls alone or only the continuous robot motions. For a robotic system operating in the real world, navigation safety is critical in order to avoid potential...
When an autonomous mobile robot exploring in an unstructured environment, it may often enter a wall-corner, but be stuck there. We present a wall-corner collision detection and avoidance algorithm using depth images. We first determine if a mobile robot is trapped in a wall-corner using historic alternate turnings. Then we propose a geometric approach to let the robot escape a corner. We demonstrate...
We present a low-cost social robot system composed of a mobile base (a robotic cleaner, $150), an Intel RealSense RGB-D camera ($100), a touch screen powerful laptop ($800), the ROS(Robot Operating System) ($0) and the Intel RealSense SDK ($0). This social robot has the capability of autonomously navigating in an unstructured and dynamic environment, avoiding collisions with stationary or dynamic...
Full-duplex radios are often envisioned to double wireless link capacity. Substantial work has focused on redesigning the radio hardware to achieve this theoretical gain. From a network-protocol perspective, however, it remains an open problem how to exploit full-duplex radio, and how much gain it can achieve in practical multi-cell wireless LANs. In this paper, we propose FuMAC, a channel access...
We present a new bounding volume structure, k-IOS that is an intersection of k spheres, for accelerating proximity query including collision detection and Euclidean distance computation between arbitrary polygon-soup models that undergo rigid motion. Our new bounding volume is easy to implement and highly efficient both for its construction and runtime query. In our experiments, we have observed up...
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