Efficient distance computation between non-convex objects

@article{Quinlan1994EfficientDC,
  title={Efficient distance computation between non-convex objects},
  author={Sean Quinlan},
  journal={Proceedings of the 1994 IEEE International Conference on Robotics and Automation},
  year={1994},
  pages={3324-3329 vol.4}
}
  • Sean Quinlan
  • Published 8 May 1994
  • Computer Science
  • Proceedings of the 1994 IEEE International Conference on Robotics and Automation
This paper describes an efficient algorithm for computing the distance between nonconvex objects. Objects are modeled as the union of a set of convex components. From this model we construct a hierarchical bounding representation based on spheres. The distance between objects is determined by computing the distance between pairs of convex components using preexisting techniques. The key to efficiency is a simple search routine that uses the bounding representation to ignore most of the possible… 

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