Collision Prediction

[+] Author and Article Information
Byungmoon Kim, Jarek Rossignac

GVU Center and College of Computing, Georgia Institute of Technology, Atlanta, GA 30332

J. Comput. Inf. Sci. Eng 3(4), 295-301 (Dec 24, 2003) (7 pages) doi:10.1115/1.1632526 History: Received July 01, 2003; Revised October 01, 2003; Online December 24, 2003
Copyright © 2003 by ASME
Your Session has timed out. Please sign back in to continue.


Ahuja, N., Chien, R. T., Yen, R., Bridwell, N., 1980, “Interference Detection and Collision Avoidance among Three Dimensional Objects,” In Ist Annual National Conference on AI, Stanford University.
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.
Boyse,  J. W., 1979, “Interference Detection Among Solids and Surfaces,” Commun. ACM, 22(1), pp. 3–9.
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.
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.
Jimenez,  P., Thomas,  F., and Torras,  C., 2001, “3D Collision Detection: A Survey,” Comput. Graph., 25(2), pp. 269–285.
Korein, J. U., 1984, A Geometric Investigation of Reach. The MIT Press.
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.
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.
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.
Rimon,  E., and Boyd,  S. P., 1997, “Obstacle Collision Detection Using Best Ellipsoid Fit,” J. Intell. Robotic Syst., 18(2), pp. 105–126.
Bajaj,  C., and Dey,  T., 1992, “Convex Decomposition of Polyhedra and Robustness,” SIAM J. Comput., 21(2), pp. 9–64.
Chazelle,  B., 1984, “Convex Partitions of Polyhedra: A Lower Bound and a Worst-case Optimal Algorithm,” SIAM J. Comput., 13(3), pp. 488–507.
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.
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.
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.
Pobil, A. P. D., Serna, 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.
Dobkin, D., Kirkpatrick, D., 1990, “Determining the Separation of Preprocessed Polyhedra—A Unified Approach,” Lecture Notes in Computer Science, volume 443, pp. 400–413.
Gottschalk, S., Lin, M. C., and Manocha, D., 1996, “OBB-Tree: A Hierarchical Structure for Rapid Interference Detection,” Proceedings of ACM Siggraph.
Hamada, K., and Hori, Y., 1996, “Octree-Based Approach to Real-time Collision-free Path Planning for Robot Manipulator,” ACM96-MIE, pp. 705–710.
Hubbard, P., 1993, “Interactive Collision Detection,” Proceedings of IEEE Symposium on Research Frontiers in Virtual Reality, pp. 24–31.
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.
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.
Palmer,  I. J., and Grimsdale,  R. L., 1995, “Collision Detection for Animation Using Sphere-trees,” Computer Graphics Forum, 14(2), pp. 105–116.
Bobrow,  J. E., 1983, “A Direct Optimization Approach for Obtaining the Distance Between Convex Polyhedra,” Int. J. Robot. Res., 8(3), pp. 65–76.
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.
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.
Quinlan, S., 1994, “Efficient Distance Computation Between Non-convex Objects,” Proceedings of IEEE International Conference on Robotics and Automation, volume 4, pp. 3324–3329.
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.
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.
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.
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.
Canny,  J. F., 1986, “Collision Detection for Moving Polyhedra,” IEEE Trans. Pattern Anal. Mach. Intell., 8(2), pp. 200–209.
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.
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.
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.
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.
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.
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.
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.
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.
Cameron,  S. A., 1990, “Collision Detection by Four-dimensional Intersection Testing,” IEEE J. Rob. Autom., 6(3), pp. 291–302.
Canny, J., 1987, The Complexity of Robot Motion Planning. MIT Press, Cambridge, MA.
Schomer, E., and Thiel, C., 1995, “Efficient Collision Detection for Moving Polyhedra,” Proceedings of the Eleventh Annual Symposium on Computational Geometry, pp. 51–60.
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.
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.
Redon, S., Kheddar, A., and Coquillart, S., 2001, “CONTACT: Arbitrary In-between Motions for Continuous Collision Detection,” Proceedings of IEEE ROMAN.
Redon, S., Private Communication 2003.
Redon, S., Kheddar, A., and Coquillart, S. 2002, “Fast Continuous Collision Detection between Rigid Bodies,” Proceedings of Eurographics.
Ohwovoriole,  M., and Roth,  B., 1981, “An Extension of Screw Theory,” ASME J. Mech. Des., 103(4), pp. 725–735.
Zefran,  M., and Kumar,  V., 1998, “Interpolation Schemes for Rigid Body Motions,” Computer-Aided Design 30(3), pp. 179–189.
Rossignac,  J. R., and Kim,  J. J., 2001, “Computing and Visualizing Pose-Interpolating 3D Motions,” Computer Aided Design, 33(4), pp. 279–291.
Hubbard,  P. M., 1996, “Approximating Polyhedra with Spheres for Time-critical Collision Detection,” ACM Trans. Graphics, 15(3), pp. 179–210.
Bottema, O., and Roth, B., 1979, Theoretical Kinematics. North-Holland Publishing Company, Amsterdam, pp. 56–62, New York, Oxford.


Grahic Jump Location
Vertex/Triangle collision
Grahic Jump Location
Triangle/Vertex collision
Grahic Jump Location
Computation of screw parameters s , p , d,b
Grahic Jump Location
Trivial rejections: cylinder/sphere collision
Grahic Jump Location
Trivial rejections: vertex/triangle
Grahic Jump Location
Trivial rejections: edge/edge
Grahic Jump Location
Rotation and projection of a point q0
Grahic Jump Location
Left: with all types of rejections when objects may or mat not collide. Right: with vertex/triangle and edge/edge rejections when objects collide.
Grahic Jump Location
Collisions between a moving object A, shown in several colors and a static object B, in cyan color. A moves from left(green) to right(blue) along a screw and its intermediate instance(red) shows it at the moment of first collision with B for two different configurations: a face of A collides with a vertex of B (bottom) and an edge of A collides with an edge of B (top)
Grahic Jump Location
Screw parameters s , p , d,b




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In