Collision Exclusion Bitmasks for Scalable Robot Simulation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Converting between different representations of collision exclusion relationships in robotic systems is computationally expensive and inefficient, especially as the number of objects to be simulated grows, making it impractical for real-world applications.
Innovation Solution
A system that efficiently converts between collision exclusion graphs and bitmasks by utilizing techniques such as graph coloring and clique identification to generate collision exclusion bitmasks, allowing for high-fidelity simulations and robotic planning without considering collisions between objects with exclusion relationships.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If collision exclusion relationships are represented using graphs, then the representation is intuitive and easy to understand, but converting to other formats becomes computationally expensive
Solution Approach 1:
The patent pre-computes and stores collision exclusion bitmasks during an initialization phase before simulations begin. This preliminary action converts the graph representation to bitmask format in advance, so that during actual simulations, the system can directly use the pre-computed bitmasks without performing expensive conversions in real-time, thus resolving the contradiction between intuitive representation and conversion efficiency
2Measurement precision
If the number of objects in the simulation increases, then the simulation fidelity improves, but the computational cost of format conversion becomes prohibitively expensive
Solution Approach 1:
By performing the computationally expensive graph-to-bitmask conversion in advance during system initialization rather than during simulations, the patent allows the simulation to proceed with high object counts without incurring repeated conversion costs. The pre-computed bitmasks enable efficient collision exclusion checks even as the number of objects increases, maintaining simulation fidelity while controlling computational expense
3Adaptability or versatility
If real-time conversion between collision exclusion formats is performed, then the system remains flexible, but the computational overhead becomes prohibitive for real-world applications
Solution Approach 1:
The patent resolves the flexibility-time contradiction by pre-computing collision exclusion bitmasks during system initialization. This allows the system to maintain adaptability by supporting multiple representation formats while eliminating real-time conversion overhead. The pre-computed bitmasks are stored and reused across multiple simulations, providing both format flexibility and computational efficiency for real-world applications
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for converting between different representations of collision exclusion relationships. One of the methods includes identifying a plurality of cliques in a collision exclusion graph. A bitmask representing collision exclusion relationships between the particular object and other objects in the robotic operating environment is generated using the identified cliques. A simulation of executing a robotic control plan for a robot in the robotic operating environment is performed using the generated bitmasks to detect collisions.