Event Details
Some Approaches to the Minimum Distance Problem Between Ellipsoids
Presenter: Mr. David Fenger (PhD candidate, ECE)
Supervisor:
Date: Mon, December 3, 2001
Time: 12:30:00 - 00:00:00
Place: EOW 430
ABSTRACT
Abstract:
In addition to robot components that typically have a simple polyhedral representation, ellipsoid representations of objects are also of interest, partly because of their simplicity. Three different methods of handling the ellipsoid distance are presented: a simple point to ellipsoid iteration, the use of high-definition polyhedral models, and an iterative process for refining the polyhedral model only in the area of interest. Comparison to the scarce results from the literature is done, but the main comparison of interest is among the proposed methods. While not the best, the iterative refinement technique shows promise.