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In this paper, we propose a new solid model named "Hierarchical Sphere Model" (HSM) for modeling coordinated robots and present a feasible interference check algorithm running on HSM . HSM arranges region informations in a hierarchical tree structure and its node corresponds to a spherical region. To detect any interference between objects modeled with HSM, regions which must be investigated can be compressed small by using hierarchy of HSM. Hence the algorithm works efficiently in spite of complicated robots' shape. Furthermore, any interference can be checked just by recursively calculating the distance between spheres corresponding to HSMs' nodes no matter how the robots move. Therefore, HSM is suitable for modeling coordinated robots with complex shape.

A new solid model HSM for checking on interference between moviug robots.