@INPROCEEDINGS{503868,
title={A practical approach to collision detection between general objects },
author={del Pobil, A.P. and Perez, M. and Martinez, B.},
booktitle={Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on},
year={1996},
month={Apr},
volume={1},
number={},
pages={779-784 vol.1},
abstract={Since collision detection is becoming a bottleneck for real-world applications involving increasingly complex geometries, more efficient ways of detecting collisions are called for. Hierarchies of detail based on spheres seem a powerful approach to overcome this problem. A representation for non-convex objects with curved surfaces is presented, which is independent of the number of features used for the polyhedral model of the object. A new algorithm for collision detection between many moving objects is described. Experiments with two different robots show the efficiency of the method},
keywords={computational geometry, path planning, robotscollision detection, complex geometries, general objects, nonconvex objects, robots},
doi={10.1109/ROBOT.1996.503868},
ISSN={}, }