Nonconvex polyhedral models of workpieces or robot parts can be directly tested for interference, without resorting to a previous decomposition into convex entities [15]. Here we show that this interference detection, based o n the elemental edgeface intersection test, can be performed eficiently: a strategy based o n applicability constraints reduces drastically the set of edgeface pairings that have to be considered for intersection. This is accomplished by using a n appropriate

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... , the Spherical Face Orientation Graph, developed by the authors, as well as feature pairing algorithms, based o n the plane sweep paradigm, that have been adapted to work o n that representation. Furthermore, the benefits of such a strategy extend to the computation of a lower distance bound between the polyhedra, both lowering the computational effort and improving the quality of the bound. Experimental results confirm the expected advantages of this strategy.