The original publication of the article contains an error in line number 8 of Algorithm 2. The correct version of the Algorithm 2 is provided in this erratum.Function BallBallDisjointTime (Formula presented).Algorithm 2: A stable algorithm for detecting when two initially intersecting balls become disjoint. This determines the time until fBB ≥ 0 and fBB > 0 or returns +∞ if this does not occur in the future.
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