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However, these methods all assume simple geometry, such as a disc, which significantly limits their applicability. This paper proposes a new approach that advances collision prediction beyond disc robots and handles arbitrary polygons and articulated objects. Our new tool predicts collision by assuming that obstacles are adversarial. Comparing to an online motion planner that replans periodically at fixed time intervals and a planner that approximates obstacle with discs, our experimental results provide strong evidence that the new method significantly reduces the number of replans while maintaining a higher success rate of finding a valid path. Our geometric-based collision prediction method provides a tool for handling highly complex shapes and provides an approach complementary to those methods that consider behavior and dynamic constraints of objects with simple shapes.<\/jats:p>","DOI":"10.1177\/0278364915603225","type":"journal-article","created":{"date-parts":[[2015,10,20]],"date-time":"2015-10-20T00:30:12Z","timestamp":1445301012000},"page":"476-500","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Online collision prediction among 2D polygonal and articulated           obstacles"],"prefix":"10.1177","volume":"35","author":[{"given":"Yanyan","family":"Lu","sequence":"first","affiliation":[{"name":"Department of Computer Science, George Mason University, VA,\r          USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhonghua","family":"Xi","sequence":"additional","affiliation":[{"name":"Department of Computer Science, George Mason University, VA,\r          USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jyh-Ming","family":"Lien","sequence":"additional","affiliation":[{"name":"Department of Computer Science, George Mason University, VA,\r          USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,10,19]]},"reference":[{"key":"bibr1-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2312453"},{"key":"bibr2-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1145\/97880.97881"},{"key":"bibr3-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509233"},{"key":"bibr4-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094901"},{"key":"bibr5-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/3468.709600"},{"key":"bibr6-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1145\/199404.199437"},{"key":"bibr7-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509278"},{"key":"bibr8-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.620144"},{"key":"bibr9-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641879"},{"key":"bibr10-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700706"},{"key":"bibr11-0278364915603225","first-page":"388","volume-title":"2003 IEEE\/RSJ international conference on intelligent robots and systems (IROS 2003)","author":"Fraichard T","year":"2003"},{"key":"bibr12-0278364915603225","first-page":"171","volume":"30","author":"Gottschalk S","year":"1996","journal-title":"Computer Graphics"},{"key":"bibr13-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1145\/378456.378530"},{"key":"bibr14-0278364915603225","first-page":"193","volume-title":"Algorithmic Foundations of Robotics IX","author":"Hauser K","year":"2011"},{"key":"bibr15-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400203"},{"key":"bibr16-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509772"},{"key":"bibr17-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/2945.466717"},{"key":"bibr18-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389625"},{"key":"bibr19-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1302410"},{"key":"bibr20-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9287-y"},{"key":"bibr21-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"bibr22-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1007\/s00453-005-1153-2"},{"key":"bibr23-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/70.143352"},{"key":"bibr24-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844730"},{"key":"bibr25-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2008.2012116"},{"key":"bibr26-0278364915603225","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2008.4738894"},{"key":"bibr27-0278364915603225","first-page":"262","volume-title":"Proceedings of the international conference on automated planning and scheduling (ICAPS)","author":"Likhachev M","year":"2005"},{"key":"bibr28-0278364915603225","first-page":"3411","volume-title":"Proceedings of the IEEE international conference on robotics and automation","author":"Li TY","year":"2002"},{"key":"bibr29-0278364915603225","unstructured":"Luders BD, Aoude GS, Joseph JM, (2011) Probabilistically safe avoidance of             dynamic obstacles with uncertain motion patterns. 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