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<p>This paper presents a new approach for the following collision detection problem in the plane: Let a simple polygon P rotate at a center /spl ogr/ with constant angular velocity /spl omega/ and translate towards a set of polygonal obstacles S with constant velocity /spl nu/. Given P and S as well as their initial positions, and given also the velocities of P, determine whether or not P will collide with any element of S and report the collided elements of S if collisions occurred. An O(mn) worst-case optimal algorithm is proposed to solve this problem, where n is the number of vertices of P and m is the number of vertices of the obstacles in S.</p>
path planning; robots; computational geometry; collision detection; moving polygon; polygonal obstacles; angular velocity; worst case optimal algorithm; computational geometry; motion planning; robotics

C. Wang, "Collision Detection of a Moving Polygon in the Presence of Polygonal Obstacles in the Plane," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 16, no. , pp. 571-580, 1994.
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