List of Figures

• Scene Example for the ``Mover's Problem''
• Space Filling Representations
• Free Space Division Guided by Scene Features
• Proximity Measurement in Terms of Boundary Expansion
• Apparent Object Interpenetration at Coarse Levels of Detail
• Vertex to Vertex Contact
• Line Segment to Vertex Contact
• Aligned Line Segments Contact
• Overlapping Line Segments Contact
• Large Line Segment to Small Line Segment Contact
• Vertex to Convex Curve Contact
• Vertex to Concave Curve Contact
• Line Segment to Convex Curve Contact
• Line Segment to Concave Curve Contact
• Convex Curve to Convex Curve Contact
• Concave Curve to Convex Curve Contact
• Implementation of the EPB/PDO Representation
• Scene for EPB/PDO Example (drawn to scale)