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dc.contributor.authorChakravarthy, Animesh
dc.contributor.authorGhose, Debasish
dc.date.accessioned2012-02-20T17:39:07Z
dc.date.available2012-02-20T17:39:07Z
dc.date.issued2011-12
dc.identifier.citationChakravarthy, A.; Ghose, D.; , "Collision Cones for Quadric Surfaces," Robotics, IEEE Transactions on , vol.27, no.6, pp.1159-1166, Dec. 2011 doi: 10.1109/TRO.2011.2159413en_US
dc.identifier.issn1552-3098
dc.identifier.otherWOS:000297821400013
dc.identifier.urihttp://hdl.handle.net/10057/4474
dc.identifier.urihttp://dx.doi.org/10.1109/TRO.2011.2159413
dc.descriptionClick on the DOI link below to access the article (may not be free).en_US
dc.description.abstractThe problem of collision prediction in dynamic environments appears in several diverse fields, which include robotics, air vehicles, underwater vehicles, and computer animation. In this paper, collision prediction of objects that move in 3-D environments is considered. Most work on collision prediction assumes objects to be modeled as spheres. However, there are many instances of object shapes where an ellipsoidal or a hyperboloid-like bounding box would be more appropriate. In this paper, a collision cone approach is used to determine collision between objects whose shapes can be modeled by general quadric surfaces. Exact collision conditions for such quadric surfaces are obtained in the form of analytical expressions in the relative velocity space. For objects of arbitrary shapes, exact representations of planar sections of the 3-D collision cone are obtained.en_US
dc.language.isoen_USen_US
dc.publisherIEEEen_US
dc.relation.ispartofseriesRobotics, IEEE Transactions on;2011:, v.27, no.6
dc.subjectCollision coneen_US
dc.subjectDynamic environmentsen_US
dc.subjectObstacle avoidanceen_US
dc.subjectPath planningen_US
dc.titleCollision cones for quadric surfacesen_US
dc.typeArticleen_US
dc.description.versionPeer reviewed article
dc.rights.holderCopyright © 2011, IEEE


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