A Safe Swept Volume Method for Collision Detection Andre
نویسندگان
چکیده
This paper presents a collision detection method based on a swept volume approach. The proposed method computes a convex approximation (CSV) guaranteed to encompass the real swept volume (RSV). It is shown to be robust, which means that small errors in the model result in small errors in the result. It is first shown to be safe, which means that detections can ever be missed. It is then shown to be reliable, meaning that the exact result can be approached as closely as desired for a known cost.
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