[Arm] Research collision monitoring for the arm based on the pointcloud #222
Description
Summary
- What are methods for collision monitoring?
- Desk research: Does it work with our current planner?
- If our planner doesn't work well with current collision monitoring methods, which other planners could be relevant?
Motivation
Minimal requirements of a method:
Collision avoidance must be 'working properly', working fast enough on our hardware, doesn't collide, ..
DOD
- Create use cases/obstacles in simulation
- Decisions are made
- Documentation is up-to-date
- Further implementation issue or research issues (obstacle space) defined
- Reviewed