NDLI: Fast convex minimization to detect collisions between polyhedra

Content Provider	IEEE Xplore Digital Library
Author	Mirolo, C. Pagello, E.
Copyright Year	2000
Description	Author affiliation: Dipartimento di Matematica e Inf., Udine Univ., Italy (Mirolo, C.)
Abstract	The subject of the paper is a fast algorithm for detecting collisions of two convex polyhedra translating in space. A major feature is the novelty of the approach: collision detection for two convex bodies is reduced to collision detection for pairs of planar sections and minimization of a bivariate convex function; furthermore, most of the subproblems are solved using two-dimensional geometry. As proved by previous theoretical work, on this basis it is possible to design an algorithm, which runs in O(log/sup 2/n) time in the average and O(log/sup 3/n) in the worst case, where n is the total number of vertices. Here the focus is on a more practical version of the algorithm, which is particularly suited to plan collision-free paths on the basis of fine-grain descriptions of the objects in the workspace, as it is the case for the systems supported by sophisticated geometric modelers. After explaining the main ideas underlying the approach, a set of experimental results are presented and discussed in some depth.
Starting Page	1605
Ending Page	1610
File Size	706157
Page Count	6
File Format	PDF
ISBN	0780363485
DOI	10.1109/IROS.2000.895202
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-10-31
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis Solid modeling Grid computing Search problems Geometry Size measurement Computational efficiency
Content Type	Text
Resource Type	Article

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