A new efficient motion-planning algorithm for a rod in polygonal space

S. Sifrony; Micha Sharir

doi:10.1145/10515.10535

A new efficient motion-planning algorithm for a rod in polygonal space

S. Sifrony, Micha Sharir

School of Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

We present here a new and efficient algorithm for planning collision-free motion of a rod in the plane amidst polygonal obstacles. The algorithm calculates the boundary of the space of free positions of the rod, and then uses this boundary for determining the existence of required motions. The algorithm runs in time O(K log n) where n is the number of obstacle corners and where K is the total number of pairs of obstacle walls or corners lying from one another at distance less than or equal to the length of the rod. Since K=O(n²), the algorithm has the same worst-case complexity as the best previously developed algorithm of Leven and Sharir [LSI], but if the obstacles are not too cluttered together it will run much more efficiently.

Original language	English
Title of host publication	Proceedings of the 2nd Annual Symposium on Computational Geometry, SCG 1986
Publisher	Association for Computing Machinery, Inc
Pages	178-186
Number of pages	9
ISBN (Electronic)	0897911946, 9780897911948
DOIs	https://doi.org/10.1145/10515.10535
State	Published - 1 Aug 1986
Event	2nd Annual Symposium on Computational Geometry, SCG 1986 - Yorktown Heights, United States Duration: 2 Jun 1986 → 4 Jun 1986

Publication series

Name	Proceedings of the 2nd Annual Symposium on Computational Geometry, SCG 1986

Conference

Conference	2nd Annual Symposium on Computational Geometry, SCG 1986
Country/Territory	United States
City	Yorktown Heights
Period	2/06/86 → 4/06/86

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10.1145/10515.10535

Cite this

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title = "A new efficient motion-planning algorithm for a rod in polygonal space",

abstract = "We present here a new and efficient algorithm for planning collision-free motion of a rod in the plane amidst polygonal obstacles. The algorithm calculates the boundary of the space of free positions of the rod, and then uses this boundary for determining the existence of required motions. The algorithm runs in time O(K log n) where n is the number of obstacle corners and where K is the total number of pairs of obstacle walls or corners lying from one another at distance less than or equal to the length of the rod. Since K=O(n2), the algorithm has the same worst-case complexity as the best previously developed algorithm of Leven and Sharir [LSI], but if the obstacles are not too cluttered together it will run much more efficiently.",

author = "S. Sifrony and Micha Sharir",

note = "Publisher Copyright: {\textcopyright} 1986 ACM.; 2nd Annual Symposium on Computational Geometry, SCG 1986 ; Conference date: 02-06-1986 Through 04-06-1986",

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Sifrony, S & Sharir, M 1986, A new efficient motion-planning algorithm for a rod in polygonal space. in Proceedings of the 2nd Annual Symposium on Computational Geometry, SCG 1986. Proceedings of the 2nd Annual Symposium on Computational Geometry, SCG 1986, Association for Computing Machinery, Inc, pp. 178-186, 2nd Annual Symposium on Computational Geometry, SCG 1986, Yorktown Heights, United States, 2/06/86. https://doi.org/10.1145/10515.10535

A new efficient motion-planning algorithm for a rod in polygonal space. / Sifrony, S.; Sharir, Micha.
Proceedings of the 2nd Annual Symposium on Computational Geometry, SCG 1986. Association for Computing Machinery, Inc, 1986. p. 178-186 (Proceedings of the 2nd Annual Symposium on Computational Geometry, SCG 1986).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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A new efficient motion-planning algorithm for a rod in polygonal space

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