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Efficient Interference Calculation by Tight Bounding Volumes
Description
We propose a method for efficient calculation of proximity queries for a moving object. The proposed method performs continuous collision detection between two given configurations according to the exact collision checking (ECC) approach which performs distance calculation between two objects. This method obtains efficient results as it employs the concept of clearance bounds and performs approximate distance calculations with a tight fit of bounding volumes. The high efficiency of the method, when applied to robot path planning, is demonstrated through some experiments.