## Efficient Distance Computation between Non-Convex Objects (1994)

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Venue: | In Proceedings of International Conference on Robotics and Automation |

Citations: | 195 - 0 self |

### BibTeX

@INPROCEEDINGS{Quinlan94efficientdistance,

author = {Sean Quinlan},

title = {Efficient Distance Computation between Non-Convex Objects},

booktitle = {In Proceedings of International Conference on Robotics and Automation},

year = {1994},

pages = {3324--3329}

}

### Years of Citing Articles

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### Abstract

This paper describes an efficient algorithm for computing the distance between non-convex 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 pairs of components. The efficiency can further be improved by accepting a relative error in the returned result. Several empirical trials are presented to examine the performance of the algorithm. 1. Introduction Computing the distance between objects is a common problem in robotics. Using a mathematical model of two objects, we find a point on each object such that the distance between the points is minimized. If one object is a robot and the other object is the union of all the obstacles i...

### Citations

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Citation Context ...nd optimal path planning [3]. Previous work on the distance computation problem has focused on convex objects. Lumelsky [4] describes an efficient algorithm for pairs of line segments. Gilbert et al. =-=[5]-=-, Bobrow [6], and Lin and Canny [7] present algorithms that find the distance between two convex polyhedra. Each of these three algorithms iteratively finds pairs of points, one on each object, such t... |

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Citation Context ...if the distance between the objects is zero. Collision detection has been used extensively in robotics for applications such as path planning [8], and in computer graphics for physical based modeling =-=[9]-=-. For such applications, collision detection often consumes a significant percentage of the execution time and much research has been directed at finding efficient algorithms. Two related approaches f... |