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cs.RO2025
Hardware-Accelerated Ray Tracing for Discrete and Continuous Collision Detection on GPUs
Sizhe Sui, Luis Sentis, Andrew Bylard
This paper presents a set of simple and intuitive robot collision detection algorithms that show substantial scaling improvements for high geometric complexity and large numbers of…
cs.RO2024
Grasp Failure Constraints for Fast and Reliable Pick-and-Place Using Multi-Suction-Cup Grippers
Jee-eun Lee, Robert Sun, Andrew Bylard +1
Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects…
cs.RO2024
On the Performance of Jerk-Constrained Time-Optimal Trajectory Planning for Industrial Manipulators
Jee-eun Lee, Andrew Bylard, Robert Sun +1
Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and…