Before revision:  The main contributions of this paper are to provide a high-level overview of major categories of collision detection, and provide methods of collision detection and anticipatory collision avoidance for agents that are both computationally efficient and exact -- that is, they will never yield false negative or false positive detections .
After revision:  The main contributions of this paper are to provide a high-level overview of major categories of collision detection, and provide methods of collision detection and anticipatory collision avoidance for agents that are both computationally efficient and highly accurate .