This repository implements polyhedral collision detection using vertex enumeration formulation.
Our formulation replaces nonsmooth constraints with multiple smooth constraints. This repository also implements existing baseline formulations to compare and benchmark.
This repository supplements our corresponding conference paper at ICRA 2025.
Simple usage example our method is available in examples/simple_nonsmooth_example.jl:
using PolyPlanning
x0 = [5.0, 0.0, π / 2 + .1, 0, 0, 0];
obs_polys = PolyPlanning.gen_rect_obs();
ego_polys = PolyPlanning.gen_ego_rect();
# (...)
nonsmooth_prob = PolyPlanning.setup_nonsmooth(ego_polys, obs_polys)
PolyPlanning.solve_nonsmooth(nonsmooth_prob, x0)More examples including simple usage examples for baselines methods, the separating hyperplanes and dcol (differentiable collision by Tracy et al.) are also available in the examples folder.
We also include interactive demonstration called assignment playground to explore how signed distance assignments work, which you can try for yourself by typing:
include("examples/assignment_playground.jl")
Distributed under the MIT License. See LICENSE for more information.
@misc{cinar2025polyhedralcollisiondetectionvertex,
title={Polyhedral Collision Detection via Vertex Enumeration},
author={Andrew Cinar and Yue Zhao and Forrest Laine},
year={2025},
eprint={2501.13201},
archivePrefix={arXiv},
primaryClass={cs.CG},
url={https://arxiv.org/abs/2501.13201},
}