{"id":"https://openalex.org/W1519608079","doi":"https://doi.org/10.1177/02783640122067499","title":"An Orientation-Based Pruning Tool to Speed Up Contact Determination between Translating Polyhedral Models","display_name":"An Orientation-Based Pruning Tool to Speed Up Contact Determination between Translating Polyhedral Models","publication_year":2001,"publication_date":"2001-06-01","ids":{"openalex":"https://openalex.org/W1519608079","doi":"https://doi.org/10.1177/02783640122067499","mag":"1519608079"},"language":"en","primary_location":{"id":"doi:10.1177/02783640122067499","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640122067499","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10261/30527","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090716461","display_name":"P. Jim\u00e9nez","orcid":"https://orcid.org/0009-0002-2121-1918"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"P. Jim\u00e9nez","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial,                         Llorens i Artigas 4-6, E-08028 Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial,                         Llorens i Artigas 4-6, E-08028 Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007639805","display_name":"Carme Torras","orcid":"https://orcid.org/0000-0002-2933-398X"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"C. Torras","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial,                         Llorens i Artigas 4-6, E-08028 Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial,                         Llorens i Artigas 4-6, E-08028 Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5007639805","https://openalex.org/A5090716461"],"corresponding_institution_ids":["https://openalex.org/I4210093282"],"apc_list":null,"apc_paid":null,"fwci":0.7303,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76748768,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":"6","first_page":"466","last_page":"483"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/polyhedron","display_name":"Polyhedron","score":0.7992405891418457},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.70292067527771},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5924052596092224},{"id":"https://openalex.org/keywords/quadratic-growth","display_name":"Quadratic growth","score":0.588133692741394},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5180447101593018},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5113634467124939},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5107533931732178},{"id":"https://openalex.org/keywords/pruning","display_name":"Pruning","score":0.5043469667434692},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4817364513874054},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.4636123776435852},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.45510780811309814},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.4531744122505188},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.45085611939430237},{"id":"https://openalex.org/keywords/convex-polytope","display_name":"Convex polytope","score":0.4182766079902649},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4177423119544983},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37602370977401733},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27252626419067383},{"id":"https://openalex.org/keywords/convex-set","display_name":"Convex set","score":0.2488357126712799},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.22562217712402344},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1868939995765686},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12691181898117065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0804128646850586}],"concepts":[{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.7992405891418457},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.70292067527771},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5924052596092224},{"id":"https://openalex.org/C195956108","wikidata":"https://www.wikidata.org/wiki/Q7268362","display_name":"Quadratic growth","level":2,"score":0.588133692741394},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5180447101593018},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5113634467124939},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5107533931732178},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.5043469667434692},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4817364513874054},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.4636123776435852},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.45510780811309814},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.4531744122505188},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.45085611939430237},{"id":"https://openalex.org/C110943637","wikidata":"https://www.wikidata.org/wiki/Q4129097","display_name":"Convex polytope","level":5,"score":0.4182766079902649},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4177423119544983},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37602370977401733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27252626419067383},{"id":"https://openalex.org/C49870271","wikidata":"https://www.wikidata.org/wiki/Q193657","display_name":"Convex set","level":4,"score":0.2488357126712799},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.22562217712402344},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1868939995765686},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12691181898117065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0804128646850586},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/02783640122067499","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640122067499","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:digital.csic.es:10261/30527","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/30527","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Art\u00edculo"}],"best_oa_location":{"id":"pmh:oai:digital.csic.es:10261/30527","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/30527","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Art\u00edculo"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1516027685","https://openalex.org/W1646038686","https://openalex.org/W1907649404","https://openalex.org/W1991461030","https://openalex.org/W1999250663","https://openalex.org/W2005102720","https://openalex.org/W2008388729","https://openalex.org/W2034181461","https://openalex.org/W2053939793","https://openalex.org/W2055354539","https://openalex.org/W2072162217","https://openalex.org/W2073628093","https://openalex.org/W2094539937","https://openalex.org/W2097863596","https://openalex.org/W2109478135","https://openalex.org/W2112893040","https://openalex.org/W2113797439","https://openalex.org/W2115243734","https://openalex.org/W2115580611","https://openalex.org/W2123703543","https://openalex.org/W2126539456","https://openalex.org/W2135843641","https://openalex.org/W2144509468","https://openalex.org/W2150283848","https://openalex.org/W2158207548","https://openalex.org/W2162636684","https://openalex.org/W2163228497","https://openalex.org/W2166316739","https://openalex.org/W2168507359","https://openalex.org/W3021035068","https://openalex.org/W3041834803","https://openalex.org/W4233034310","https://openalex.org/W4244064761","https://openalex.org/W6630827198","https://openalex.org/W6639916354"],"related_works":["https://openalex.org/W4248823117","https://openalex.org/W2334849780","https://openalex.org/W2004058166","https://openalex.org/W2030718493","https://openalex.org/W2018708907","https://openalex.org/W2103429114","https://openalex.org/W2005538657","https://openalex.org/W2088151573","https://openalex.org/W2004897847","https://openalex.org/W2469464399"],"abstract_inverted_index":{"Contact":[0],"determination":[1,148],"in":[2,86,143,151],"terms":[3],"of":[4,51,60,92,96,101,109,113,119,134,157,165],"edge-face":[5],"intersection":[6],"tests":[7],"permits":[8],"handling":[9],"nonconvex":[10,128],"polyhedra":[11],"directly,":[12],"without":[13],"decomposing":[14],"them":[15],"into":[16],"convex":[17,87],"entities,":[18],"which":[19],"saves":[20],"the":[21,49,68,78,84,93,99,107,110,116,131,135,146,163],"decomposition":[22],"time":[23],"and":[24,43],"avoids":[25],"having":[26],"to":[27,53,82],"deal":[28],"with":[29,106,123,139],"fictitious":[30],"features":[31],"but":[32],"requires":[33],"checking":[34],"all":[35],"possible":[36],"pairings.":[37],"However,":[38],"by":[39,77],"considering":[40],"only":[41],"translations":[42],"departing":[44],"from":[45],"a":[46,74,124,166],"noninterfering":[47],"situation,":[48],"number":[50,100,118],"pairings":[52,62,103,120],"be":[54,64],"checked":[55],"decreases":[56],"drastically.":[57],"The":[58],"set":[59],"critical":[61,102],"can":[63],"determined":[65],"efficiently":[66],"using":[67],"spherical":[69],"face":[70],"orientation":[71],"graph":[72],"(SFOG),":[73],"representation":[75],"developed":[76],"authors.":[79],"An":[80],"algorithm":[81,126],"exploit":[83],"SFOG":[85],"settings":[88,129],"provides":[89],"controlled":[90],"evidence":[91],"pruning":[94],"potential":[95,133],"this":[97,152],"approach:":[98,136],"grows":[104],"linearly":[105],"complexity":[108],"polyhedra,":[111],"instead":[112],"quadratically":[114],"as":[115],"total":[117],"does.":[121],"Experiments":[122],"similar":[125],"on":[127],"confirm":[130],"expected":[132],"for":[137],"workpieces":[138],"many":[140],"concavities":[141],"moving":[142],"close":[144],"proximity,":[145],"contact":[147],"procedure":[149],"presented":[150],"paper":[153],"performs":[154],"one":[155],"order":[156],"magnitude":[158],"faster":[159],"than":[160],"RAPID,":[161],"at":[162],"expense":[164],"much":[167],"higher":[168],"preprocessing":[169],"time.":[170]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
