5.3.1 Basic Concepts

As in Section 3.1.1, collision detection may be viewed as a logical predicate. In the current setting it appears as $ \phi : {\cal C}\rightarrow \{$TRUE$ ,\;$FALSE$ \}$, in which the domain is $ {\cal C}$ instead of $ {\cal W}$. If $ q \in {\cal C}_{obs}$, then $ \phi (q) =$   TRUE; otherwise, $ \phi (q) =$   FALSE.



Subsections

Steven M LaValle 2020-08-14