{"id":"https://openalex.org/W1988738265","doi":"https://doi.org/10.1109/icra.2013.6630689","title":"What's wrong with collision detection in multibody dynamics simulation?","display_name":"What's wrong with collision detection in multibody dynamics simulation?","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W1988738265","doi":"https://doi.org/10.1109/icra.2013.6630689","mag":"1988738265"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630689","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029012622","display_name":"Daniel Montrallo Flickinger","orcid":null},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Montrallo Flickinger","raw_affiliation_strings":["Department of Computer Science, Rensselaer Polytechnic Institute, USA","[Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rensselaer Polytechnic Institute, USA","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"[Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY, USA]","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046142421","display_name":"Jedediyah Williams","orcid":null},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jedediyah Williams","raw_affiliation_strings":["Department of Computer Science, Rensselaer Polytechnic Institute, USA","[Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rensselaer Polytechnic Institute, USA","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"[Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY, USA]","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113862170","display_name":"Jeffrey C. Trinkle","orcid":null},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey C. Trinkle","raw_affiliation_strings":["Department of Computer Science, Rensselaer Polytechnic Institute, USA","[Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rensselaer Polytechnic Institute, USA","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"[Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY, USA]","institution_ids":["https://openalex.org/I165799507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165799507"],"apc_list":null,"apc_paid":null,"fwci":1.5275,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.84378073,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"25","issue":null,"first_page":"959","last_page":"964"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8161436319351196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7512819766998291},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.7504241466522217},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7375783324241638},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6924498677253723},{"id":"https://openalex.org/keywords/time-stepping","display_name":"Time stepping","score":0.5981826782226562},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.4761802554130554},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.381182461977005},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09087145328521729},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.07602572441101074}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8161436319351196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7512819766998291},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.7504241466522217},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7375783324241638},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6924498677253723},{"id":"https://openalex.org/C3019693144","wikidata":"https://www.wikidata.org/wiki/Q541182","display_name":"Time stepping","level":3,"score":0.5981826782226562},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.4761802554130554},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.381182461977005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09087145328521729},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.07602572441101074},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6630689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630689","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1514487078","https://openalex.org/W1560423750","https://openalex.org/W1591697890","https://openalex.org/W1999447019","https://openalex.org/W2005102720","https://openalex.org/W2007195244","https://openalex.org/W2007677977","https://openalex.org/W2009085245","https://openalex.org/W2032507921","https://openalex.org/W2045471590","https://openalex.org/W2067376551","https://openalex.org/W2070755806","https://openalex.org/W2077007971","https://openalex.org/W2078552451","https://openalex.org/W2085897137","https://openalex.org/W2099035461","https://openalex.org/W2103775064","https://openalex.org/W2105427176","https://openalex.org/W2113019057","https://openalex.org/W2113115376","https://openalex.org/W2136054249","https://openalex.org/W2145512488","https://openalex.org/W2157731667","https://openalex.org/W2158276044","https://openalex.org/W2234650683","https://openalex.org/W6651855304"],"related_works":["https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W2021628292","https://openalex.org/W4379525781","https://openalex.org/W1987135480","https://openalex.org/W2238221241"],"abstract_inverted_index":{"Contemporary":[0],"time-stepping":[1,89,95],"methods":[2,104],"used":[3],"in":[4,14],"the":[5,84,92,102,121,134],"dynamic":[6,38],"simulation":[7,39],"of":[8,27,83,128],"rigid":[9],"bodies":[10],"suffer":[11],"from":[12],"problems":[13],"accuracy,":[15],"performance,":[16],"and":[17,56,79,99,115],"robustness.":[18],"Significant":[19],"allowances":[20],"for":[21,41,66,101,136],"tuning,":[22],"coupled":[23],"with":[24,91],"careful":[25],"implementation":[26],"a":[28,81],"broad":[29],"phase":[30],"collision":[31,61],"detection":[32,62],"scheme":[33],"is":[34,49,53,131],"required":[35],"to":[36,75,132],"make":[37,80],"useful":[40],"practical":[42],"applications.":[43],"A":[44],"recently":[45],"developed":[46],"formulation":[47],"method":[48,90,123],"presented":[50,74,124],"herein":[51],"that":[52],"more":[54],"robust,":[55],"not":[57],"dependent":[58],"on":[59],"broad-phase":[60],"or":[63],"system":[64],"tuning":[65],"its":[67],"behavior.":[68],"Several":[69],"uncomplicated":[70],"benchmark":[71],"examples":[72],"are":[73,105,118],"give":[76],"an":[77],"analysis":[78],"comparison":[82],"new":[85,122],"Polyhedral":[86],"Exact":[87],"Geometry":[88],"well-known":[93],"Stewart-Trinkle":[94],"method.":[96],"The":[97,126],"behavior":[98],"performance":[100,141],"two":[103],"discussed.":[106],"This":[107],"includes":[108],"specific":[109],"cases":[110],"where":[111],"contemporary":[112],"time-steppers":[113],"fail,":[114],"how":[116],"they":[117],"ameliorated":[119],"by":[120],"here.":[125],"goal":[127],"this":[129],"work":[130],"complete":[133],"groundwork":[135],"further":[137],"research":[138],"into":[139],"high":[140],"simulation.":[142]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}