Proximity Queries Between Convex Objects: An Interior Point Approach for Implicit Surfaces

@article{Chakraborty1998ProximityQB,
  title={Proximity Queries Between Convex Objects: An Interior Point Approach for Implicit Surfaces},
  author={Nilanjan Chakraborty and Jufeng Peng and Srinivas Akella and Jason E. Mitchell},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  year={1998},
  pages={1910-1916}
}
This paper presents a general method for exact distance computation between convex objects represented as intersections of implicit surfaces. Exact distance computation algorithms are particularly important for applications involving objects that make intermittent contact, such as in dynamic simulations and in haptic interactions. They can also be used in the narrow phase of hierarchical collision detection. In contrast to geometric approaches developed for polyhedral objects, we formulate the… CONTINUE READING
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