GPU-based real-time collision detection for motion execution in mobile manipulation planning
Andreas Hermann, Sebastian Klemm, Zhixing Xue, Arne Roennau, Rüdiger Dillmann · 2013
In this paper we present a parallel collision checking approach as an essential building block of a reactive online planning framework, that allows to continuously monitor the execution of planned trajectories against dynamic changes in the environment. The software is optimized for massively parallel hardware architectures, namely CUDA GPUs and offers constant runtime regardless of the occupancy density in the environment.