{"id":80665,"date":"2018-03-10T00:04:23","date_gmt":"2018-03-10T00:04:23","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/deteccion-rapida-de-colisiones-para-la-planificacion-practica-del-movimiento-de-varios-robots\/"},"modified":"2018-03-10T00:04:23","modified_gmt":"2018-03-10T00:04:23","slug":"deteccion-rapida-de-colisiones-para-la-planificacion-practica-del-movimiento-de-varios-robots","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/deteccion-rapida-de-colisiones-para-la-planificacion-practica-del-movimiento-de-varios-robots\/","title":{"rendered":"Deteccion rapida de colisiones para la planificacion practica del movimiento de varios robots"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Miguel Perez Francisco <\/strong><\/h2>\n<p>La planificacion del movimiento de robots en aplicaciones pr\u00e1cticas con escenarios complejos y objetos en movimiento requiere algoritmos de deteccion de colosiones eficientes. La eficiencia de los algoritmos de detecci\u00f3n de colisiones depende directamente de la representaci\u00f3n usada para modelar los objetos. Las aproximaciones jer\u00e1rquicas de la forma son muy adecuadas para resolver estos problemas, en los que se requiere un compromiso entre sencillez y precisi\u00f3n. En esta tesis, se utiliza una representaci\u00f3n jerarquica basada unicamente en esferas envolventes para la detecci\u00f3n de colisiones entre s\u00f3lidos en movimiento aplicable a la planificaci\u00f3n del movimiento de robots. Dichos s\u00f3lidos pueden ser no convexos y con caras curvas. Nuestros resultados demuestran la estabilidad del modelo respecto al n\u00famero de pol\u00edgonos utilizados para modelar los s\u00f3lidos que se estudian. diversas mejoras en el algoritmo (eliminaci\u00f3n del estudio de todos los pares de s\u00f3lidos y la utilizaci\u00f3n de la coherencia espacial y temporal) permiten aumentar la eficiencia de los algoritmos en escenas en las que existen un gran n\u00famero de s\u00f3lidos. Tambien se presentan varias versiones paralelas del algoritmo de detecci\u00f3n de colisiones con las que se obtienen incrementos de velocidad considerables.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Deteccion rapida de colisiones para la planificacion practica del movimiento de varios robots<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Deteccion rapida de colisiones para la planificacion practica del movimiento de varios robots <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Miguel Perez Francisco <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Jaume i de castell\u00f3n<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 20\/09\/1999<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li> Pascual Del Pobil Ferre Angel<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: alicia Casals gelpi <\/li>\n<li>Juan  Carlos Fraile marinero (vocal)<\/li>\n<li>alejo Avello iturriagagoitia (vocal)<\/li>\n<li>alejandro Garcia alonso montoya (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Miguel Perez Francisco La planificacion del movimiento de robots en aplicaciones pr\u00e1cticas con escenarios complejos y objetos [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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