Deformable Proximity Queries and Their Application in Mobile Manipulation Planning

  title={Deformable Proximity Queries and Their Application in Mobile Manipulation Planning},
  author={Marc Gissler and Christian Dornhege and Bernhard Nebel and Matthias Teschner},
We describe a proximity query algorithm for the exact minimum distance computation between arbitrarily shaped objects. Special characteristics of the Gilbert-Johnson-Keerthi (GJK) algorithm are employed in various stages of the algorithm. In the first stage, they are used to search for sub-mesh pairs whose convex hulls do not intersect. In the case of an intersection, they guide a recursive decomposition. Finally, they are used to derive lower and upper distance bounds in non-intersecting cases… CONTINUE READING


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