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ftp://ftp.inrialpes.fr/pub/sharp/publications/joukhadar:etal:iros:99.pdf.gz (not accepted here, non vectorial font)/http://www.ieee.orgThis paper presents an approach to detect and localize contact between deformable polyhedra, which can be convex or concave depending on the time step. Usual contact detection algorithms, defined for convex polyhedra, cannot be used efficiently as they would imply to compute the convex decomposition of the considered polyhedra at each time step, as it can change due to the deformability of these polyhedra. The computation of this convex decomposition being very expensive (in complexity and computation time), we propose an algorithm to detect and localize the contact in linear time wrt the number of vertices. This algorithm returns the direction of this contact and the value of the maximum intersection distance between the convex hulls of the two considered polyhedra. Experimental results, taken from a dynamic simulation application, are presented with their computation time to complete the complexity analysis

This paper addresses motion planning for a mobile robot moving on a hally three dimensional terrain and subjected to strong physical interaction constraints. The main contribution of this paper is a planning method which takes into account the dynamics of the robot, the robot/terrain interactions, the kinematic constraints of the robot, and classical constraints. The basic idea of our method is to integrate geometric and physical models of the robot and of the terrain in a two-stage trajectory planning process. Consisting in combining a "discrete search strategy" and a "continuous motion generation method". It will be shown how each planning step operates and how they interact in order to generate a safe and executable motion f o r the all-terrain vehicle.

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