IDEAS home Printed from https://ideas.repec.org/a/spr/coopap/v77y2020i2d10.1007_s10589-020-00211-0.html
   My bibliography  Save this article

The distance between convex sets with Minkowski sum structure: application to collision detection

Author

Listed:
  • Xiangfeng Wang

    (East China Normal University)

  • Junping Zhang

    (University of Electronic Science and Technology of China)

  • Wenxing Zhang

    (University of Electronic Science and Technology of China)

Abstract

The distance between sets is a long-standing computational geometry problem. In robotics, the distance between convex sets with Minkowski sum structure plays a fundamental role in collision detection. However, it is typically nontrivial to be computed, even if the projection onto each component set admits explicit formula. In this paper, we explore the problem of calculating the distance between convex sets arising from robotics. Upon the recent progress in convex optimization community, the proposed model can be efficiently solved by the recent hot-investigated first-order methods, e.g., alternating direction method of multipliers or primal-dual hybrid gradient method. Preliminary numerical results demonstrate that those first-order methods are fairly efficient in solving distance problems in robotics.

Suggested Citation

  • Xiangfeng Wang & Junping Zhang & Wenxing Zhang, 2020. "The distance between convex sets with Minkowski sum structure: application to collision detection," Computational Optimization and Applications, Springer, vol. 77(2), pages 465-490, November.
    • Handle: RePEc:spr:coopap:v:77:y:2020:i:2:d:10.1007_s10589-020-00211-0
    DOI: 10.1007/s10589-020-00211-0
    as

    Download full text from publisher

    File URL: http://link.springer.com/10.1007/s10589-020-00211-0
    File Function: Abstract
    Download Restriction: Access to the full text of the articles in this series is restricted.
    File URL: https://libkey.io/10.1007/s10589-020-00211-0?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. Xiaolong Qin & Nguyen Thai An, 2019. "Smoothing algorithms for computing the projection onto a Minkowski sum of convex sets," Computational Optimization and Applications, Springer, vol. 74(3), pages 821-850, December.
    2. Aliyu, M. D. S., 2000. "A vertex algorithm for collision detection," European Journal of Operational Research, Elsevier, vol. 120(1), pages 174-180, January.
    3. Adrian S. Lewis & Jérôme Malick, 2008. "Alternating Projections on Manifolds," Mathematics of Operations Research, INFORMS, vol. 33(1), pages 216-234, February.
    4. Zhe Liu & Yahya Fathi, 2011. "An active index algorithm for the nearest point problem in a polyhedral cone," Computational Optimization and Applications, Springer, vol. 49(3), pages 435-456, July.
    5. Mayer, Andreas & Zelenyuk, Valentin, 2014. "Aggregation of Malmquist productivity indexes allowing for reallocation of resources," European Journal of Operational Research, Elsevier, vol. 238(3), pages 774-785.
    6. Patrick L. Combettes & Jean-Christophe Pesquet, 2011. "Proximal Splitting Methods in Signal Processing," Springer Optimization and Its Applications, in: Heinz H. Bauschke & Regina S. Burachik & Patrick L. Combettes & Veit Elser & D. Russell Luke & Henry (ed.), Fixed-Point Algorithms for Inverse Problems in Science and Engineering, chapter 0, pages 185-212, Springer.
    7. NESTEROV, Yu., 2005. "Smooth minimization of non-smooth functions," LIDAM Reprints CORE 1819, Université catholique de Louvain, Center for Operations Research and Econometrics (CORE).
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. James Chok & Geoffrey M. Vasil, 2023. "Convex optimization over a probability simplex," Papers 2305.09046, arXiv.org.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. TAYLOR, Adrien B. & HENDRICKX, Julien M. & François GLINEUR, 2016. "Exact worst-case performance of first-order methods for composite convex optimization," LIDAM Discussion Papers CORE 2016052, Université catholique de Louvain, Center for Operations Research and Econometrics (CORE).
    2. David Degras, 2021. "Sparse group fused lasso for model segmentation: a hybrid approach," Advances in Data Analysis and Classification, Springer;German Classification Society - Gesellschaft für Klassifikation (GfKl);Japanese Classification Society (JCS);Classification and Data Analysis Group of the Italian Statistical Society (CLADAG);International Federation of Classification Societies (IFCS), vol. 15(3), pages 625-671, September.
    3. Nguyen Hieu Thao, 2018. "A convergent relaxation of the Douglas–Rachford algorithm," Computational Optimization and Applications, Springer, vol. 70(3), pages 841-863, July.
    4. A. Chambolle & Ch. Dossal, 2015. "On the Convergence of the Iterates of the “Fast Iterative Shrinkage/Thresholding Algorithm”," Journal of Optimization Theory and Applications, Springer, vol. 166(3), pages 968-982, September.
    5. Quoc Tran-Dinh, 2017. "Adaptive smoothing algorithms for nonsmooth composite convex minimization," Computational Optimization and Applications, Springer, vol. 66(3), pages 425-451, April.
    6. Masoud Ahookhosh & Arnold Neumaier, 2018. "Solving structured nonsmooth convex optimization with complexity $$\mathcal {O}(\varepsilon ^{-1/2})$$ O ( ε - 1 / 2 )," TOP: An Official Journal of the Spanish Society of Statistics and Operations Research, Springer;Sociedad de Estadística e Investigación Operativa, vol. 26(1), pages 110-145, April.
    7. Radu Boţ & Christopher Hendrich, 2015. "A variable smoothing algorithm for solving convex optimization problems," TOP: An Official Journal of the Spanish Society of Statistics and Operations Research, Springer;Sociedad de Estadística e Investigación Operativa, vol. 23(1), pages 124-150, April.
    8. Guillaume Sagnol & Edouard Pauwels, 2019. "An unexpected connection between Bayes A-optimal designs and the group lasso," Statistical Papers, Springer, vol. 60(2), pages 565-584, April.
    9. Ernest K. Ryu & Yanli Liu & Wotao Yin, 2019. "Douglas–Rachford splitting and ADMM for pathological convex optimization," Computational Optimization and Applications, Springer, vol. 74(3), pages 747-778, December.
    10. Junhong Lin & Lorenzo Rosasco & Silvia Villa & Ding-Xuan Zhou, 2018. "Modified Fejér sequences and applications," Computational Optimization and Applications, Springer, vol. 71(1), pages 95-113, September.
    11. Francisco J. Aragón Artacho & Rubén Campoy, 2018. "A new projection method for finding the closest point in the intersection of convex sets," Computational Optimization and Applications, Springer, vol. 69(1), pages 99-132, January.
    12. Silvia Bonettini & Peter Ochs & Marco Prato & Simone Rebegoldi, 2023. "An abstract convergence framework with application to inertial inexact forward–backward methods," Computational Optimization and Applications, Springer, vol. 84(2), pages 319-362, March.
    13. Puya Latafat & Panagiotis Patrinos, 2017. "Asymmetric forward–backward–adjoint splitting for solving monotone inclusions involving three operators," Computational Optimization and Applications, Springer, vol. 68(1), pages 57-93, September.
    14. Barnabé Walheer, 2018. "Cost Malmquist productivity index: an output-specific approach for group comparison," Journal of Productivity Analysis, Springer, vol. 49(1), pages 79-94, February.
    15. Sedi Bartz & Rubén Campoy & Hung M. Phan, 2022. "An Adaptive Alternating Direction Method of Multipliers," Journal of Optimization Theory and Applications, Springer, vol. 195(3), pages 1019-1055, December.
    16. Javier DEAZA & Enrique GILLES & Alejandro VIVAS, 2016. "Productivity Measurements For South Korea And Three Countries Of The Pacific Alliance: Colombia, Chile And Mexico, 2008-2012," Applied Econometrics and International Development, Euro-American Association of Economic Development, vol. 16(2), pages 75-85.
    17. Dirk Lorenz & Marc Pfetsch & Andreas Tillmann, 2014. "An infeasible-point subgradient method using adaptive approximate projections," Computational Optimization and Applications, Springer, vol. 57(2), pages 271-306, March.
    18. Hedy Attouch & Alexandre Cabot & Zaki Chbani & Hassan Riahi, 2018. "Inertial Forward–Backward Algorithms with Perturbations: Application to Tikhonov Regularization," Journal of Optimization Theory and Applications, Springer, vol. 179(1), pages 1-36, October.
    19. Barnabé Walheer, 2019. "Disaggregation for efficiency analysis," Journal of Productivity Analysis, Springer, vol. 51(2), pages 137-151, June.
    20. Walheer, Barnabé, 2019. "Aggregating Farrell efficiencies with private and public inputs," European Journal of Operational Research, Elsevier, vol. 276(3), pages 1170-1177.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:spr:coopap:v:77:y:2020:i:2:d:10.1007_s10589-020-00211-0. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Sonal Shukla or Springer Nature Abstracting and Indexing (email available below). General contact details of provider: http://www.springer.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.