{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,6]],"date-time":"2025-06-06T14:26:34Z","timestamp":1749219994334,"version":"3.37.0"},"reference-count":16,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":7738,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1988,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Minimum distance algorithms may be used in robotic simulation programs to provide the user with the distances of approach of the manipulator to obstacles in the work environment; this is important for task planning using graphical simulation of configuration maps, and for the implementation of automatic detection of (imminent) collision in robot task development Systems that are based on a graphical simulation facility. In this paper we present algorithms that may be used for the calculation of distances between objects, not necessarily convex, that are made up of unions of convex polyhedra and cylindrically shaped objects (where the cross-section of the cylinder may be ellipsoidal, rather than circular).<\/jats:p>","DOI":"10.1017\/s0263574700003593","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:23:32Z","timestamp":1236691412000},"page":"47-51","source":"Crossref","is-referenced-by-count":11,"title":["Distance calculation for imminent collision indication in a robot System simulation"],"prefix":"10.1017","volume":"6","author":[{"given":"G.","family":"Hurteau","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"N. F.","family":"Stewart","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"volume-title":"Advanced Software in Robotics","year":"1984","author":"Weck","key":"S0263574700003593_ref003"},{"key":"S0263574700003593_ref006","doi-asserted-by":"publisher","DOI":"10.1016\/0304-3975(78)90051-8"},{"volume-title":"Mathematical Programming Methods","year":"1976","author":"Zoutendijk","key":"S0263574700003593_ref014"},{"key":"S0263574700003593_ref008","doi-asserted-by":"crossref","unstructured":"8. Dobkin D.P. and Edelsbrunner H. , \u201cSpace searching for intersecting objects\u201d IEEE Foundations of Computer Science 387 (1984).","DOI":"10.1109\/SFCS.1984.715939"},{"key":"S0263574700003593_ref011","unstructured":"11. Intergraph, Robotics Today 20 (06, 1985)."},{"key":"S0263574700003593_ref015","doi-asserted-by":"crossref","unstructured":"15. Lemke C.E. , On complementary pivot theory (Mathematics of the Decision Sciences, Part 1, American Mathematical Society, Providence, R.I., 1968).","DOI":"10.1016\/0024-3795(68)90052-9"},{"key":"S0263574700003593_ref012","doi-asserted-by":"crossref","unstructured":"12. Requicha A.A.G. and Voelker H.B. , \u201cSolid modeling: current status and research directions\u201d IEEE Computer Graphics and Applications 25 (10, 1983).","DOI":"10.1109\/MCG.1983.263271"},{"key":"S0263574700003593_ref002","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700002162"},{"key":"S0263574700003593_ref005","doi-asserted-by":"publisher","DOI":"10.1007\/BF00977413"},{"key":"S0263574700003593_ref013","unstructured":"13. Hurteau G. , \u201cM\u00e9thodes de pr\u00e9vention et de d\u00e9tection des collisions dans un simulateur robotique\u201d M. Sc. Thesis (D\u00e9partement d'informatique et de recherche operationnelle, Universit\u00e9 de Montr\u00e9al, 1986)."},{"volume-title":"Introduction to Linear and Non-linear Programming","year":"1973","author":"Luenberger","key":"S0263574700003593_ref016"},{"key":"S0263574700003593_ref001","unstructured":"1. Kretch S. , \u201cRobotic animation\u201d Mechanical Engineering 32 (08, 1982)."},{"key":"S0263574700003593_ref004","first-page":"81","article-title":"Robot System simulation","volume":"6","author":"Stauffer","year":"1984","journal-title":"Robotics Today"},{"key":"S0263574700003593_ref007","unstructured":"7. Brown K.Q. , \u201cFast intersection of half spaces\u201d Technical Report CMU-CS-78\u2013129 (Carnegie Mellon University Department of Computer Science, 1978)."},{"key":"S0263574700003593_ref009","doi-asserted-by":"publisher","DOI":"10.1016\/0166-3615(85)90016-8"},{"key":"S0263574700003593_ref010","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200405"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700003593","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:57:34Z","timestamp":1738990654000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700003593\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1988,1]]},"references-count":16,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1988,1]]}},"alternative-id":["S0263574700003593"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700003593","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1988,1]]}}}