The DOI matches its Crossref record; 13 of the 13 references it cites were found in a registry or an index.
Efficient distance computation between non-convex objects
Abstract
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 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.>
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Cites
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Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Kavraki, L. E., Svestka, P., Latombe, J.-C., & Overmars, M. H. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.508439 · Cited by 6,343
Randomized Kinodynamic Planning
LaValle, S. M., & Kuffner, J. J. (2001) · The International Journal of Robotics Research · doi:10.1177/02783640122067453 · Cited by 3,254
OBBTree: a hierarchical structure for rapid interference detection
Gottschalk, S., Lin, M. C., & Manocha, D. (1996) · Proceedings of the 23rd annual conference on Computer graphics and interactive techniques · doi:10.1145/237170.237244 · Cited by 2,081
Randomized Kinodynamic Motion Planning with Moving Obstacles
Hsu, D., Kindel, R., Latombe, J.-C., & Rock, S. (2002) · The International Journal of Robotics Research · doi:10.1177/027836402320556421 · Cited by 771
The bridge test for sampling narrow passages with probabilistic roadmap planners
Hsu, D., Jiang, T., Reif, J., & Sun, Z. (2004) · 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) · doi:10.1109/robot.2003.1242285 · Cited by 355
Metadata
- Authors
- Quinlan, S.
- Venue
- Proceedings of the 1994 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2002-12-17
- Pages
- 3324-3329
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2139062144
- Cited by
- 391
- References
- 13
- FWCI
- 26.73
- Type
- conference paper
- Language
- en
- Open access
- closed
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
