Continuous Collision Detection for a Robotic Arm Mounted on a CableDriven Parallel Robot A continuous collision checking method for a cabledriven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bound on their relative velocity and a lower bound on the distance between the bodies are computed and used to validate a portion of the path. These computations are done repeatedly until a collision is found or the path is validated. The method is integrated within the Humanoid Path Planner (HPP) software, tested with the cabledriven parallel robot CoGiRo, and compared to a discretized validation method.

Rapid Collision Detection for Multicopter Trajectories We present a continuoustime collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory generation method to achieve rapid, obstacleaware motion planning in environments with both static convex obstacles and dynamic convex obstacles whose boundaries do not rotate. In general, this problem is difficult because the presence of convex obstacles makes the feasible space of trajectories nonconvex. The performance of the algorithm is benchmarked using Monte Carlo simulations, and experimental results are presented that demonstrate the use of the method to plan collisionfree multicopter trajectories in milliseconds in environments with both static and dynamic obstacles.