Unified geometric modeling by non-manifold shell operation
SMA '93 Proceedings on the second ACM symposium on Solid modeling and applications
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Robot Motion Planning
Approximate convex decomposition of polygons
SCG '04 Proceedings of the twentieth annual symposium on Computational geometry
Collision detection and proximity queries
ACM SIGGRAPH 2004 Course Notes
Fast continuous collision detection for articulated models
SM '04 Proceedings of the ninth ACM symposium on Solid modeling and applications
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We propose a method for efficient calculation of proximity queries for a moving object. The proposed method performs continuous collision detection between two given configurations according to the exact collision checking (ECC) approach which performs distance calculation between two objects. This method obtains efficient results as it employs the concept of clearance bounds and performs approximate distance calculations with a tight fit of bounding volumes. The high efficiency of the method, when applied to robot path planning, is demonstrated through some experiments.