Sizhe Sui

Sizhe Sui

Ph.D. student in Aerospace Engineering at University of Texas, Austin

Publications

Hardware-Accelerated Ray Tracing for Discrete and Continuous Collision Detection on GPUs

Published in Arxiv, 2024 , GitHub

This paper introduces hardware-accelerated ray-tracing algorithms for robot collision detection, enabling faster mesh-to-mesh and sphere-to-mesh collision queries. The methods show up to 9x speed improvements in continuous collision detection compared to state-of-the-art techniques, with detailed analysis of speed-accuracy tradeoffs.

Recommended citation: Sui S, Sentis L, Bylard A. Hardware-Accelerated Ray Tracing for Discrete and Continuous Collision Detection on GPUs[J]. arXiv preprint arXiv:2409.09918, 2024. https://arxiv.org/abs/2409.09918

Solving the AXB=YCZ Problem for a Dual-Robot System with Geometric Calculus

Published in IEEE Transactions on Automation Science and Engineering, 2023 , GitHub

Calibrate a dual-robot system by modeling and solving the problem with Geometric Algebra and Geometric Calculus. The proposed method is ~4x faster than the state-of-the-art algorithm while maintain the same level of accuracy.

Recommended citation: Sui S, Ding Y. Solving the AXB= YCZ Problem for a Dual-Robot System With Geometric Calculus[J]. IEEE Transactions on Automation Science and Engineering, 2023. https://ieeexplore.ieee.org/document/10215071