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Proximity Query (PQ)

Proximity Query (PQ) is a process to calculate the relative placement of objects. It is a critical task for many applications such as robot motion planning, particularly those involving human-robot collaborative control. This program computes a PQ formulation which can support non-convex objects represented by meshes or cloud points.

Sample code on GitHub

References:

Thomas C.P. Chau, Ka-Wai Kwok, Gary C.T. Chow, Kuen Hung Tsoi, Zion Tse, Peter Y.K. Cheung and Wayne Luk, "Acceleration of Real-time Proximity Query for Dynamic Active Constraints," in Proc. International Conference on Field-Programmable Technology (FPT), pp. 206-213, 2013. [pdf]

K.W. Kwok, K.H. Tsoi, V. Vitiello, J. Clark, G.C.T. Chow, Wayne Luk, G.Z. Yang, "Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy under Dynamic Active Constraints," IEEE Transactions on Robotics, Vol.29, no.1, pp.15-31, 2013.