A comparison of two fast algorithms for computing the distance between convex polyhedra
Stephen Cameron · IEEE Transactions on Robotics and Automation · 1997
The problem of tracking the distance between two convex polyhedra is finding applications in many areas of robotics. The algorithm of Lin and Canny (1991) is a well-known fast solution to this problem, but by recasting the algorithms into configuration space, we show that a minor modification to the earlier algorithm of Gilbert, Johnson, and Keerthi (1988) also gives this algorithm the same expected cost.