Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points

Lotte Rassaerts; Eke Suichies; Bram van de Vrande; Marco Alonso; Bas Meere; Michelle Chong; Elena Torta

doi:10.1109/ICRA55743.2025.11128772

Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points

Lotte Rassaerts
, Eke Suichies
, Bram van de Vrande
, Marco Alonso
, Bas Meere
, Michelle Chong
, Elena Torta

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

2 Citaten (Scopus)

24 Downloads (Pure)

Samenvatting

This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing abrupt shifts in closest points, this method effectively reduces collision risks and enhances controller performance. Applied to an Image Guided Therapy robot and validated through simulations and user experiments, the framework demonstrates improved distance prediction accuracy, smoother trajectories, and safer navigation near obstacles.

Originele taal-2	Engels
Titel	2025 IEEE International Conference on Robotics and Automation, ICRA 2025
Redacteuren	Christian Ott, Henny Admoni, Sven Behnke, Stjepan Bogdan, Aude Bolopion, Youngjin Choi, Fanny Ficuciello, Nicholas Gans, Clement Gosselin, Kensuke Harada, Erdal Kayacan, H. Jin Kim, Stefan Leutenegger, Zhe Liu, Perla Maiolino, Lino Marques, Takamitsu Matsubara, Anastasia Mavromatti, Mark Minor, Jason O'Kane, Hae Won Park, Ioannis Rekleitis, Federico Renda, Elisa Ricci, Laurel D. Riek, Lorenzo Sabattini, Shaojie Shen, Yu Sun, Pierre-Brice Wieber, Katsu Yamane, Jingjin Yu
Uitgeverij	Institute of Electrical and Electronics Engineers
Pagina's	3007-3014
Aantal pagina's	8
ISBN van elektronische versie	979-8-3315-4139-2
DOI's	https://doi.org/10.1109/ICRA55743.2025.11128772
Status	Gepubliceerd - 2 sep. 2025
Evenement	2025 IEEE International Conference on Robotics and Automation (ICRA) - Atlanta, GA, Verenigde Staten van Amerika Duur: 19 mei 2025 → 23 mei 2025

Congres

Congres	2025 IEEE International Conference on Robotics and Automation (ICRA)
Land/Regio	Verenigde Staten van Amerika
Stad	Atlanta, GA
Periode	19/05/25 → 23/05/25

Bibliografische nota

Publisher Copyright:
© 2025 IEEE.

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10.1109/ICRA55743.2025.11128772

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Rassaerts, L., Suichies, E., van de Vrande, B., Alonso, M., Meere, B., Chong, M., & Torta, E. (2025). Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points. In C. Ott, H. Admoni, S. Behnke, S. Bogdan, A. Bolopion, Y. Choi, F. Ficuciello, N. Gans, C. Gosselin, K. Harada, E. Kayacan, H. J. Kim, S. Leutenegger, Z. Liu, P. Maiolino, L. Marques, T. Matsubara, A. Mavromatti, M. Minor, J. O'Kane, H. W. Park, I. Rekleitis, F. Renda, E. Ricci, L. D. Riek, L. Sabattini, S. Shen, Y. Sun, P.-B. Wieber, K. Yamane, ... J. Yu (editors), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025 (blz. 3007-3014). Artikel 11128772 Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA55743.2025.11128772

Rassaerts, Lotte ; Suichies, Eke ; van de Vrande, Bram et al. / Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points. 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. redacteur / Christian Ott ; Henny Admoni ; Sven Behnke ; Stjepan Bogdan ; Aude Bolopion ; Youngjin Choi ; Fanny Ficuciello ; Nicholas Gans ; Clement Gosselin ; Kensuke Harada ; Erdal Kayacan ; H. Jin Kim ; Stefan Leutenegger ; Zhe Liu ; Perla Maiolino ; Lino Marques ; Takamitsu Matsubara ; Anastasia Mavromatti ; Mark Minor ; Jason O'Kane ; Hae Won Park ; Ioannis Rekleitis ; Federico Renda ; Elisa Ricci ; Laurel D. Riek ; Lorenzo Sabattini ; Shaojie Shen ; Yu Sun ; Pierre-Brice Wieber ; Katsu Yamane ; Jingjin Yu. Institute of Electrical and Electronics Engineers, 2025. blz. 3007-3014

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title = "Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points",

abstract = "This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing abrupt shifts in closest points, this method effectively reduces collision risks and enhances controller performance. Applied to an Image Guided Therapy robot and validated through simulations and user experiments, the framework demonstrates improved distance prediction accuracy, smoother trajectories, and safer navigation near obstacles.",

keywords = "Collision avoidance, Convex hulls, Distance prediction",

author = "Lotte Rassaerts and Eke Suichies and \{van de Vrande\}, Bram and Marco Alonso and Bas Meere and Michelle Chong and Elena Torta",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 2025 IEEE International Conference on Robotics and Automation (ICRA) ; Conference date: 19-05-2025 Through 23-05-2025",

year = "2025",

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doi = "10.1109/ICRA55743.2025.11128772",

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Rassaerts, L, Suichies, E, van de Vrande, B, Alonso, M, Meere, B , Chong, M & Torta, E 2025, Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points. in C Ott, H Admoni, S Behnke, S Bogdan, A Bolopion, Y Choi, F Ficuciello, N Gans, C Gosselin, K Harada, E Kayacan, HJ Kim, S Leutenegger, Z Liu, P Maiolino, L Marques, T Matsubara, A Mavromatti, M Minor, J O'Kane, HW Park, I Rekleitis, F Renda, E Ricci, LD Riek, L Sabattini, S Shen, Y Sun, P-B Wieber, K Yamane & J Yu (reds.), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025., 11128772, Institute of Electrical and Electronics Engineers, blz. 3007-3014, 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, Verenigde Staten van Amerika, 19/05/25. https://doi.org/10.1109/ICRA55743.2025.11128772

Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points. / Rassaerts, Lotte; Suichies, Eke; van de Vrande, Bram et al.
2025 IEEE International Conference on Robotics and Automation, ICRA 2025. reds. / Christian Ott; Henny Admoni; Sven Behnke; Stjepan Bogdan; Aude Bolopion; Youngjin Choi; Fanny Ficuciello; Nicholas Gans; Clement Gosselin; Kensuke Harada; Erdal Kayacan; H. Jin Kim; Stefan Leutenegger; Zhe Liu; Perla Maiolino; Lino Marques; Takamitsu Matsubara; Anastasia Mavromatti; Mark Minor; Jason O'Kane; Hae Won Park; Ioannis Rekleitis; Federico Renda; Elisa Ricci; Laurel D. Riek; Lorenzo Sabattini; Shaojie Shen; Yu Sun; Pierre-Brice Wieber; Katsu Yamane; Jingjin Yu. Institute of Electrical and Electronics Engineers, 2025. blz. 3007-3014 11128772.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

TY - GEN

T1 - Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points

AU - Rassaerts, Lotte

AU - Suichies, Eke

AU - van de Vrande, Bram

AU - Alonso, Marco

AU - Meere, Bas

AU - Chong, Michelle

AU - Torta, Elena

PY - 2025/9/2

Y1 - 2025/9/2

N2 - This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing abrupt shifts in closest points, this method effectively reduces collision risks and enhances controller performance. Applied to an Image Guided Therapy robot and validated through simulations and user experiments, the framework demonstrates improved distance prediction accuracy, smoother trajectories, and safer navigation near obstacles.

AB - This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing abrupt shifts in closest points, this method effectively reduces collision risks and enhances controller performance. Applied to an Image Guided Therapy robot and validated through simulations and user experiments, the framework demonstrates improved distance prediction accuracy, smoother trajectories, and safer navigation near obstacles.

KW - Collision avoidance

KW - Convex hulls

KW - Distance prediction

UR - https://www.scopus.com/pages/publications/105016694221

U2 - 10.1109/ICRA55743.2025.11128772

DO - 10.1109/ICRA55743.2025.11128772

M3 - Conference contribution

AN - SCOPUS:105016694221

SP - 3007

EP - 3014

BT - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025

A2 - Ott, Christian

A2 - Admoni, Henny

A2 - Behnke, Sven

A2 - Bogdan, Stjepan

A2 - Bolopion, Aude

A2 - Choi, Youngjin

A2 - Ficuciello, Fanny

A2 - Gans, Nicholas

A2 - Gosselin, Clement

A2 - Harada, Kensuke

A2 - Kayacan, Erdal

A2 - Kim, H. Jin

A2 - Leutenegger, Stefan

A2 - Liu, Zhe

A2 - Maiolino, Perla

A2 - Marques, Lino

A2 - Matsubara, Takamitsu

A2 - Mavromatti, Anastasia

A2 - Minor, Mark

A2 - O'Kane, Jason

A2 - Park, Hae Won

A2 - Rekleitis, Ioannis

A2 - Renda, Federico

A2 - Ricci, Elisa

A2 - Riek, Laurel D.

A2 - Sabattini, Lorenzo

A2 - Shen, Shaojie

A2 - Sun, Yu

A2 - Wieber, Pierre-Brice

A2 - Yamane, Katsu

A2 - Yu, Jingjin

PB - Institute of Electrical and Electronics Engineers

T2 - 2025 IEEE International Conference on Robotics and Automation (ICRA)

Y2 - 19 May 2025 through 23 May 2025

ER -

Rassaerts L, Suichies E, van de Vrande B, Alonso M, Meere B , Chong M et al. Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points. In Ott C, Admoni H, Behnke S, Bogdan S, Bolopion A, Choi Y, Ficuciello F, Gans N, Gosselin C, Harada K, Kayacan E, Kim HJ, Leutenegger S, Liu Z, Maiolino P, Marques L, Matsubara T, Mavromatti A, Minor M, O'Kane J, Park HW, Rekleitis I, Renda F, Ricci E, Riek LD, Sabattini L, Shen S, Sun Y, Wieber PB, Yamane K, Yu J, redacteurs, 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. Institute of Electrical and Electronics Engineers. 2025. blz. 3007-3014. 11128772 doi: 10.1109/ICRA55743.2025.11128772

Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points

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