Abstract
Ray shooting is a well-studied problem in computer graphics. It also occurs in robotics as a collision detection problem in 3-D object space or a contact force optimization problem in 6-D wrench space. However, the ray-shooting algorithms derived in computer graphics are limited to 3-D polyhedra and not suited for general convex sets in high-dimensional space. This paper discusses several general ray-shooting algorithms and their applications to these problems in robotics.
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Zheng, Y., Yamane, K. (2013). Ray-Shooting Algorithms for Robotics. In: Frazzoli, E., Lozano-Perez, T., Roy, N., Rus, D. (eds) Algorithmic Foundations of Robotics X. Springer Tracts in Advanced Robotics, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36279-8_7
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DOI: https://doi.org/10.1007/978-3-642-36279-8_7
Publisher Name: Springer, Berlin, Heidelberg
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