A method is provided for detecting a collision between a robot and one or more obstacles before it occurs. The robot is modeled by spheres in a voxelized workspace. Each voxel within the workspace is assigned a value which corresponds to its distance from the closest obstacle. A collision is determined...http://www.google.fr/patents/US5347459?utm_source=gb-gplus-shareBrevet US5347459 - Real time collision detection
