# 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} }

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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