1. This paper presents a hierarchical method for real-time distance computation among moving convex bodies.
2. Previous work on this problem usually applies one of two techniques, which perform better for either complex or simple objects respectively.
3. The Hierarchical Walk algorithm combines the two techniques to achieve consistently good performance across different levels of coherence.
The article is generally reliable and trustworthy, as it provides a detailed overview of the Hierarchical Walk algorithm and its advantages over previous methods for real-time distance computation among moving convex bodies. The article is well-researched and provides evidence for its claims in the form of references to other works in the field. It also acknowledges potential limitations of the algorithm, such as its dependence on the level of coherence between successive queries, and provides an explanation of how these can be addressed by combining existing techniques. There are no obvious biases or unsupported claims in the article, and it does not appear to be promotional in nature. The only potential issue is that it does not explore counterarguments or present both sides equally; however, this is understandable given that it is focused on presenting a new algorithm rather than debating existing ones.