@inproceedings{247a7d72b2a2468ab9fff263a01150af,
title = "Voxel Map Based Collision Detection for Underwater Manipulators",
abstract = "This paper presents a real-time collision detection algorithm for underwater robotic manipulation. It is capable of detecting collisions between multiple manipulators and between manipulators and obstacles in the workspace. Assuming operations are typically carried out on artificial structures with a known geometry, it is possible to model the environment from a priori known CAD models. The position of objects in the workspace is tracked using a vision based approach that relies on fiducial marker detection. The proposed collision detection method is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator.",
keywords = "Collision avoidance, Collision detection, Collision sensing, Fiducial markers, Machine vision, Manipulator control, Marine robotics, Robot arm, ROV, Subsea inspection and intervention, Underwater manipulation",
author = "Matija Rossi and Satja Sivcev and Petar Trslic and Gerard Dooly and Edin Omerdic and Daniel Toal",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 ; Conference date: 22-10-2018 Through 25-10-2018",
year = "2019",
month = jan,
day = "7",
doi = "10.1109/OCEANS.2018.8604574",
language = "English",
series = "OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018",
}
