Abstract:
An algorithm for computing the Euclidean distance between a pair of convex sets in R/sup m/ is described. Extensive numerical experience with a broad family of polytopes ...Show MoreMetadata
Abstract:
An algorithm for computing the Euclidean distance between a pair of convex sets in R/sup m/ is described. Extensive numerical experience with a broad family of polytopes in R/sup 3/ shows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which makes its application in a variety of robotics problems attractive. These features are discussed and an example of collision detection is given.<>
Published in: IEEE Journal on Robotics and Automation ( Volume: 4, Issue: 2, April 1988)
DOI: 10.1109/56.2083
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA
Martin Marietta Aero and Naval Systems, Baltimore, MD, USA
Department of Computer Science and Automation, Indian Institute of Science, Bangalore, India
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA
Martin Marietta Aero and Naval Systems, Baltimore, MD, USA
Department of Computer Science and Automation, Indian Institute of Science, Bangalore, India
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA
