Abstract
We show how to augment a kinetic data structure for collision detection between translating polygons with the ability to make fast flight plan changes. This allows us to update the KDS after a moving polygon changes its motion in O ( log n ) time, instead of the Ω ( n ) worst-case time needed by previous kinetic data structures. The key to our approach is replacing the KDS priority queue by a dynamic convex hull that represents the certificates of the KDS.
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