1. An’s slides

2. Wrapped Bounding Sphere Hierarchy for Necklaces Fixed hierarchical structure

3. Wrapped BSH is Tight… The wrapped hierarchy is at most times tighter than the layered hierarchy. Layered hierarchyWrapped hierarchy

4. Wrapped BSH is Stable before deformationafter deformation Number of combinatorial changes in BSH under motion is small

5. Collision Detection using WBSH Subquadratic optimal time bound O( ) in O( ), in, Separating pairs Sphere packing

6. Collision Detection using Power Diagram (PD) PD captures proximity info of a necklace PD can be maintained using KDS framework PD has small size when necklace is packed

7. Spanner for Deformable Chain Capture proximity information with a sparse spanner