FCL: A general purpose library for collision and proximity queries

By Jia Pan, Sachin Chitta, Dinesh Manocha. IEEE International Conference on Robotics and Automation, 2012

610 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study (2014, methodology): “…most of its functionality: motion planning plugins (currently using OMPL), collision detection (currently using the Fast Collision Library (FCL) [32]), kinematics plugins (currently using the OROCOS Kinematics and Dynamics Library (KDL) [33] for forward and inverse kinematics for generic arms…”
The Open Motion Planning Library (2012, methodology): “app library also adds collision checking support using the PQP library [40] and FCL library [41].”
The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives (2019, methodology): “The volumes are represented using the FCL library [17]1.”
Trajectory Planning for Quadrotor Swarms (2018, methodology): “[22] J. Pan, S. Chitta, and D. Manocha, “FCL: A general purpose library for collision and proximity queries,” in Proc.”
Whole-body motion planning for manipulation of articulated objects (2013, methodology): “Our planner is implemented in the MoveIt! framework in ROS [8] and uses FCL [23] for collision checks.”