Análise da detecção de colisões com coerência semântica em ambientes robóticos simulados

This article presents the application of a new concept for collision detection into robotic virtual environments. This concept, named Semantic Coherence, aims to make an earlier evaluation of the virtual environment as a mean to foresee true cases of non-collision or situations of major probabilities of collision. The proposed approach was implemented in two case study environments: (i) an isolated robot arm simulator and, (ii) a collaborative telerobotic environment. Functional tests have shown reduction on the number of paired tests for the first case but another rationale have to be applied to the second environment. It is concluded that Semantic Coherence brings benefit to robot environment but require careful planning and implementation.