This new method for detecting collision of moving solids is based on convex approximation of swept volumes guaranteed to encompass the real swept volume. It is robust in the sense that small errors in the model always result in small errors in the result. It is safe because detection of collision can never be missed, and it is also reliable because the exact result can be approached as close as desired for a known cost. This approach can be used in a variety of situations including collision free path planning problems.
A. Foisy, V. Hayward