Collision Prediction

Journal of Computing and Information Science in Engineering

Volumn 3, Issue 4, 2003, Pages 295-301

  Kim, Byungmoon ^a   Rossignac, Jarek ^a  

^a Georgia Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION PREDICTION; SCREW MOTION;

APPROXIMATION THEORY; COMPUTATIONAL GEOMETRY; COMPUTER SIMULATION; INTERPOLATION; ITERATIVE METHODS; VECTORS;

THREE DIMENSIONAL COMPUTER GRAPHICS;

EID: 1642566046     PISSN: 15309827     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.1632526     Document Type: Conference Paper

References (54)

1. st Annual National Conference on AI, Stanford University.
2. Bonner, S., and Kelley, R. B., 1988, "A Representation Scheme for Rapid 3-D Collision Detection," Proceedings of IEEE International Symposium on Intelligent Control, pp. 320-325.
3. Boyse, J. W., 1979, "Interference Detection Among Solids and Surfaces," Commun. ACM, 22(1). pp. 3-9.
4. Lin, M. C., and Gottschalk, S., 1998. "Collision Detection Between Geometric Models: A Survey," Proceedings of IMA Conference on Mathematics of Surfaces, volume 1, pp. 602-608.
5. Hayward, V., 1986, "Fast Collision Detection Scheme by Recursive Decomposition of a Manipulator Workspace," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1044-1049.
6. Jimenez, P., Thomas, F., and Torras, C., 2001, "3D Collision Detection: A Survey," Comput. Graph., 25(2), pp. 269-285.
7. Korein, J. U., 1984, A Geometric Investigation of Reach. The MIT Press.
8. Snyder, J. M., Woodbury, A. R., Fleischer, K., Currin, B., and Barr, A. H., 1993, "Interval Methods for Multi-point Collisions Between Time-dependent Curved Surfaces," Proceedings of ACM Siggraph, pp. 321-334.
9. Von Herzen, A. H. B. B., and Zatz, H. R., 1990, "Geometric Collisions for Time-dependent Parametric Surfaces," ACM Computer Graphics, 24(4), pp. 39-48.
10. Lin, M. C., and Canny, J. F., 1991, "A Fast Algorithm for Incremental Distance Calculation," Proceedings of IEEE International Conference on Robotics and Automation, volume 2, pp. 1008-1014.
11. Rimon, E., and Boyd, S. P., 1997, "Obstacle Collision Detection Using Best Ellipsoid Fit," J. Intell. Robotic Syst., 18(2), pp. 105-126.
12. Bajaj, C., and Dey, T., 1992, "Convex Decomposition of Polyhedra and Robustness," SIAM J. Comput., 21(2), pp. 9-64.
13. Chazelle, B., 1984, "Convex Partitions of Polyhedra: A Lower Bound and a Worst-case Optimal Algorithm," SIAM J. Comput., 13(3), pp. 488-507.
14. Chazelle, B., Dobkin, D., Shouraboura, N., and Tal, A., 1997, "Strategies for Polyhedral Surface Decomposition: An Experimental Study," Computational Geometry: Theory and Applications, 7(4-5), pp. 327-342, 484.
15. Bandi, S., and Thalmann, D., 1995, "An Adaptive Spatial Subdivision of the Object Space for Fast Collision Detection of Animating Rigid Bodies," Proceedings of Eurographics '95, pp. 259-270.
16. Bouma, W., and Vanecek, G., 1991, "Collision Detection and Analysis in a Physical Based Simulation," Euro-graphics Workshop on Animation and Simulation, pp. 191-203.
17. Pobil, A. P. D., Sema, M. A., and Llovet, J., 1992, "A New Representation for Collision Avoidance and Detection," Proceedings of IEEE International Conference on Robotics and Automation, volume 1, pp. 246-251.
18. Dobkin, D., Kirkpatrick, D., 1990, "Determining the Separation of Preprocessed Polyhedra- - A Unified Approach," Lecture Notes in Computer Science, volume 443, pp. 400-413.
19. Gottschalk, S., Lin, M. C., and Manocha, D., 1996, "OBB-Tree: A Hierarchical Structure for Rapid Interference Detection," Proceedings of ACM Siggraph.
20. Hamada, K., and Hori, Y., 1996, "Octree-Based Approach to Real-time Collision-free Path Planning for Robot Manipulator," ACM96-MIE, pp. 705-710.
21. Hubbard, P., 1993, "Interactive Collision Detection," Proceedings of IEEE Symposium on Research Frontiers in Virtual Reality, pp. 24-31.
22. Klosowski, J., Held, M., Mitchell, J., Sowizral, H., and Zikan, K., 1998, "Efficient Collision Detection Using Bounding Volume Hierarchies of K-DOPS," IEEE Trans. Vis. Comput. Graph., 4(1), pp. 21-36.
23. Martinez, B., DelPobil, A. P., and Perez, M., 1998, "Very Fast Collision Detection for Practical Motion Planning. Part i: The Spatial Representation." In Proceedings of IEEE International Conference on Robotics and Automation, pp. 624-629.
24. Palmer, I. J., and Grimsdale, R. L., 1995, "Collision Detection for Animation Using Sphere-trees," Computer Graphics Forum, 14(2), pp. 105-116.
25. Bobrow, J. E., 1983, "A Direct Optimization Approach for Obtaining the Distance Between Convex Polyhedra," Int. J. Robot. Res., 8(3), pp. 65-76.
26. Cameron, S. A., and Culley, R. K., 1986, "Determining the Minimum Translational Distance Between Two Convex Polyhedra," Proceedings of IEEE International Conference on Robotics and Automation, pp. 591-596.
27. Gilbert, E. G., and Foo, C. P., 1990, "Computing the Distance Between General Convex Objects in Three-Dimensional Space," IEEE Trans. Rob. Autom., 6(1), pp. 53-61.
28. Quinlan, S., 1994, "Efficient Distance Computation Between Non-convex Objects," Proceedings of IEEE International Conference on Robotics and Automation, volume 4, pp. 3324-3329.
29. Cameron, S. A., 1997, "A Comparison of Two Fast Algorithms for Computing the Distance Between Convex Polyhedra," IEEE Trans. Rob, Autom., 13(6), pp. 915-920.
30. Cameron, S. A., 1997. "Enhancing GJK: Computing Minimum and Penetration Distances Between Convex Polyhedra," Proceedings of IEEE International Conference on Robotics and Automation, pp. 3112-3117.
31. Bergen, G. V. D., 1999, "A Fast and Robust GJK Implementation for Collision Detection of Convex Objects," Journal of Graphics, 4(2), pp. 7-25.
32. Gilbert, E. G., Johnson, D. W., and Keerthi, S., 1988, "A Fast Procedure for Computing the Distance Between Complex Objects in Three Dimensional Space," IEEE Trans. Rob. Autom., 4(2), pp. 193-203.
33. Canny, J. F., 1986, "Collision Detection for Moving Polyhedra, " IEEE Trans. Pattern Anal. Mach. Intell., 8(2), pp. 200-209.
34. Cohen, J. D., Lin, M. C., Manocha, D., and Ponamgi, M. K., 1995, "I-collide: An Interactive and Exact Collision Detection System for Large-scale Environments," Proceedings of ACM International 3D Graphics Conference, volume 1, pp. 189-196.
35. Culley, R. K., Kempf, K. G., 1986, "A Collision Detection Algorithm Based on Velocity and Distance Bounds," IEEE International Conference on Robotics and Automation, pp. 1064-1069.
36. Hudson, T. C., Lin, M. C., Cohen, J. D., Gottschalk, S., and Manocha, D., 1997, "V-collide: Accelerated Collision Detection for VRML," Proceedings of VRML.
37. Cameron, S. A., 1985, "A Study of the Clash Detection Problem in Robotics," Proceedings of IEEE International Conference on Robotics and Automation, pp. 488-493.
38. Hu, Z., and Ling, Z., 1994, "Generating Swept Solumes with Instantaneous Screw Axes," Proceedings of 94 ASME Design Technical Conference, Part 1, pp. 7-14.
39. Keiffe, J., and Litvin, L., 1991, "Swept Volume Determination and Interference of Moving 3-D Solids," ASME J. Mech. Des., 113(4), pp. 456-463.
40. Sambandan, K., and Wang, K. K., 1989, "Five-axis Swept Volumes for Graphic NC Simulation and Verification," ASME Design Automation Conference DE-Vol. 19(1), pp. 143-150.
41. Wang, W. P. K., and Wang, K., 1986, "Geometric Modeling for Swept Volume of Moving Solids," IEEE Comput. Graphics Appl., 6(12), pp. 8-17.
42. Cameron, S. A., 1990, "Collision Detection by Four-dimensional Intersection Testing," IEEE J. Rob. Autom., 6(3), pp. 291-302.
43. Canny, J., 1987, The Complexity of Robot Motion Planning, MIT Press, Cambridge, MA.
44. Schomer, E., and Thiel. C., 1995, "Efficient Collision Detection for Moving Polyhedra," Proceedings of the Eleventh Annual Symposium on Computational Geometry, pp. 51-60.
45. Jimenez, P., and Torras, C., 1995, "Collision Detection: A Geometric Approach," Modelling and Planning for Sensor Based Intelligent Robot Systems, pp. 68-85. World Scientific Pub. Co.
46. Redon, S., Kheddar, A., and Coquillart, S., 2000, "An Algebraic Solution to the Problem of Collision Detection for Rigid Polyhedral Objects," Proceedings of IEEE International Conference on Robotics and Automation, pp. 3733-3738.
47. Redon, S., Kheddar, A., and Coquillart, S., 2001, "CONTACT: Arbitrary In-between Motions for Continuous Collision Detection," Proceedings of IEEE ROMAN.
48. Redon, S., Private Communication 2003.
49. Redon, S., Kheddar, A., and Coquillart, S. 2002, "Fast Continuous Collision Detection between Rigid Bodies," Proceedings of Eurographics.
50. Ohwovoriole, M., and Roth, B., 1981, "An Extension of Screw Theory," ASME J. Mech. Des., 103(4), pp. 725-735.
51. Zefran, M., and Kumar, V., 1998, "Interpolation Schemes for Rigid Body Motions," Computer-Aided Design 30(3), pp. 179-189.
52. Rossignac, J. R., and Kim, J. J., 2001, "Computing and Visualizing Pose-Interpolating 3D Motions," Computer Aided Design, 33(4), pp. 279-291.
53. Hubbard, P. M., 1996, "Approximating Polyhedra with Spheres for Time-critical Collision Detection," ACM Trans. Graphics, 15(3), pp. 179-210.
54. Bottema, O.; and Roth, B., 1979, Theoretical Kinematics. North-Holland Publishing Company, Amsterdam, pp. 56-62, New York, Oxford.