Proximity Queries Between Convex Objects: An Interior Point Approach for Implicit Surfaces

This paper presents a general method for exact distance computation between convex objects represented as intersections of implicit surfaces. Exact distance computation algorithms are particularly important for applications involving objects that make intermittent contact, such as in dynamic simulat...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 24; no. 1; pp. 211 - 220
Main Authors:	Chakraborty, N., Jufeng Peng, Akella, S., Mitchell, J.E.
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.02.2008 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Application software Applied sciences Closest points collision detection Computation Computational complexity Computational modeling Computer science; control theory; systems Constraint theory Control theory. Systems Exact sciences and technology Haptic interfaces implicit surfaces Information systems. Data bases interior point algorithms Intersections Mathematical programming Memory organisation. Data processing Object detection Optimization Optimization algorithms Optimization methods Phase detection Polyhedra Polyhedrons Polynomials Problem solving Programming profession Proximity proximity query Queries Robotics Software Intersection Quadric Database query Barrier function Linear time Convex programming Geometrical model Superquadrics User interface Implicit theory Kuhn Tucker condition Dynamic model Mathematical programming Proximity Interior point method Computational complexity Intermittency Polynomial time Polyhedron Phase detector Karush Kuhn Tucker method Primal dual method Collision detection Time complexity Collision avoidance
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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