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CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning

Muñoz, Javier and Lehner, Peter and Moreno, Luis and Albu-Schäffer, Alin Olimpiu and Roa Garzon, Máximo Alejandro (2023) CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning. IEEE Robotics and Automation Letters, 8 (7), pp. 4036-4043. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3280820. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/10137736


Collision checking is the primitive operation of motion planning that consumes most time. Machine learning algorithms have proven to accelerate collision checking. We propose CollisionGP, a Gaussian process-based algorithm for modeling a robot's configuration space and query collision checks. CollisionGP introduces a Pòlya-Gamma auxiliary variable for each data point in the training set to allow classification inference to be done exactly with a closed-form expression. Gaussian processes provide a distribution as the output, obtaining a mean and variance for the collision check. The obtained variance is processed to reduce false negatives (FN). We demonstrate that CollisionGP can use GPU acceleration to process collision checks for thousands of configurations much faster than traditional collision detection libraries. Furthermore, we obtain better accuracy, TPR and TNR results than state-of-the-art learning-based algorithms using less support points, thus making our proposed method more sparse.

Item URL in elib:https://elib.dlr.de/196266/
Document Type:Article
Title:CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Muñoz, JavierUniversidad Carlos III de MadridUNSPECIFIEDUNSPECIFIED
Lehner, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-3755-1186139458945
Moreno, LuisUniversidad Carlos III de MadridUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115942
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Date:29 May 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 4036-4043
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:motion planning, Gaussian processes, collision check
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:28 Jul 2023 09:45
Last Modified:11 Sep 2023 13:25

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