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Conference Paper: Exact collision detection of two moving ellipsoids under rational motions

TitleExact collision detection of two moving ellipsoids under rational motions
Authors
Issue Date2003
Citation
Proceedings - Ieee International Conference On Robotics And Automation, 2003, v. 1, p. 349-354 How to Cite?
AbstractIn this paper, we describe an exact method for detecting collision between two moving ellipsoids under pre-specified rational motions. Our method is based on an algebraic condition that determines the separation status of two static ellipsoids - the condition itself is described by the signs of roots of the characteristic equation of the two ellipsoids. To deal with moving ellipsoids, we derive a bivariate function whose zero-set possesses a special topological structure. By analyzing the zero-set of this function, we are able to tell whether or not two moving ellipsoids under pre-specified rational motions are collision-free; and if not, we can determine the intervals in which they overlap.
Persistent Identifierhttp://hdl.handle.net/10722/151843
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorChoi, YKen_US
dc.contributor.authorWang, Wen_US
dc.contributor.authorKim, MSen_US
dc.date.accessioned2012-06-26T06:30:01Z-
dc.date.available2012-06-26T06:30:01Z-
dc.date.issued2003en_US
dc.identifier.citationProceedings - Ieee International Conference On Robotics And Automation, 2003, v. 1, p. 349-354en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/10722/151843-
dc.description.abstractIn this paper, we describe an exact method for detecting collision between two moving ellipsoids under pre-specified rational motions. Our method is based on an algebraic condition that determines the separation status of two static ellipsoids - the condition itself is described by the signs of roots of the characteristic equation of the two ellipsoids. To deal with moving ellipsoids, we derive a bivariate function whose zero-set possesses a special topological structure. By analyzing the zero-set of this function, we are able to tell whether or not two moving ellipsoids under pre-specified rational motions are collision-free; and if not, we can determine the intervals in which they overlap.en_US
dc.languageengen_US
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationen_US
dc.titleExact collision detection of two moving ellipsoids under rational motionsen_US
dc.typeConference_Paperen_US
dc.identifier.emailChoi, YK:ykchoi@cs.hku.hken_US
dc.identifier.emailWang, W:wenping@cs.hku.hken_US
dc.identifier.authorityChoi, YK=rp00106en_US
dc.identifier.authorityWang, W=rp00186en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0344153863en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0344153863&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume1en_US
dc.identifier.spage349en_US
dc.identifier.epage354en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridChoi, YK=7404777348en_US
dc.identifier.scopusauthoridWang, W=35147101600en_US
dc.identifier.scopusauthoridKim, MS=34975058900en_US

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