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We introduce R-Sweep, a novel and efficient approach for computing the outer boundary of the swept volume (SV) generated by a polygonal model swept along a parametric trajectory. To the best of our knowledge, our algorithm is the first practical algorithm that is able to approximate the exact SV with topological and geometric guarantees. Our approach is based on a volumetric method that generates an adaptive volumetric grid, computes a signed distance field on the grid points, and extracts an isosurface f6om the distance field. We demonstrate a number of applications of RSweep, including geometric and solid modeling, motion planning and CNC milling, to highlight the performance of our approach. In these benchmarks, R-Sweep takes merely a few minutes to compute their swept volumes for various complex polygonal models with thousands of triangles swept along parametric trajectories.


Swept Volume, Isosurface Reconstruction, Solid Modeling, Collision Detection, CNC Milling, Robot Motion Planning.


Reliable Sweeps, SIAM/ACM Joint Conference on Geometric and Solid Modeling , Oct 2009.


Related Work:

Fast Swept Volume Approximation of Complex Polyhedral Models. Young J. Kim, Gokul Varadhan, Ming C. Lin, and Dinesh ManochaACM Symposium on Solid Modeling and Applications, June 16-20, 2003.[Link]