A Review of Methods to Compute Minkowski Operations for Geometric Overlap Detection

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Abstract

This article provides an extensive review of algorithms for constructing Minkowski sums and differences of polygons and polyhedra, both convex and non-convex, commonly known as no-fit polygons and configuration space obstacles. The Minkowski difference is a set operation, which when applied to shapes defines a method for efficient overlap detection, providing an important tool in packing and motion-planning problems. This is the first complete review on this specific topic, and aims to unify algorithms spread over the literature of separate disciplines.

Original languageEnglish
Article number9018075
Pages (from-to)3377-3396
Number of pages20
JournalIEEE Transactions on Visualization and Computer Graphics
Volume27
Issue number8
DOIs
Publication statusPublished - 1 Aug 2021

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