The GJK Distance Algorithm: An Interval Version for Incremental Motions

The tracking of distance between two convex polyhedra is commonly used in the field of robotics, including collision detection or path planning. One of the well-known algorithms in this area is the distance algorithm developed by Gilbert, Johnson and Keerthi. Although this algorithm is widely-used in robotics, up till now, there has been no verification of the computed results. This paper will present an interval version for tracking the distance between convex polyhedra using the C++ library PROFIL/BIAS.