Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
E.G.Gilbert and D.W.Johnson [1985] created an optimization approach to path planning (with the piano movers problem), with rotations and collision avoidance. This method runs 10 to 20 minutes on a Harris-800 computer. This method was based on work which was later published by E.G.Gilbert, D.W.Johnson, and S.S.Keerthi [1987] which provides algorithms for calculating distances between convex (and concave) hulls in a very short time (order of milliseconds).