Collage grammars for collision-free growing of objects in 3D scenes

In the real world, solid objects rarely collide without serious damage. We study collision-freeness in the context of collage grammars, which are picture- and scene-generating devices based on hyperedge replacement. We identify a type of collage grammars that generate only collision-free collages, and prove the undecidability of the problem whether an arbitrary collage grammar generates any collision-free collage. Moreover, we discuss collision avoidance in the derivation process as an appropriate tool for practical modelling purposes.