State of the Art of Collision Avoidance for Robot Manipulators

Date and Time

2022-04-22 10:00 오전




Huy Nguyen Tran


This seminar covers the state of the art in collision avoidance for robot manipulators using sample-based algorithms such as RRT and PRM.



[Khatib, 1987] Khatib, O. (1987). A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE Journal of Robotics and Automation, 3(1):43–53.

[Kim et al., 2005] Kim, J., Esposito, J. M., and Kumar, V. (2005). An rrt-based algorithm for testing and validating multi-robot controllers. In Robotics: Science and Systems I. Robotics: Science and Systems.

[Kavraki et al., 1996] Kavraki, L., Svestka, P., Latombe, J., and Overmars, M. (1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4):566–580.

[Kuffner et al., 2000] Kuffner, J. J., Steven, J., and Lavalle, M. (2000). RRT-connect: An efficient approach to single-query path planning. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 995–1001.

Seminar Material

Has this presenter uploaded material to Lab Synology?

File Station > Seminar Materials > Lab Seminar Materials

Go to Top