TY - GEN
T1 - Coordinated motion planning for two independent robots
AU - Sharir, Micha
AU - Sifrony, Shmuel
N1 - Publisher Copyright:
© 1988 ACM.
PY - 1988/1/6
Y1 - 1988/1/6
N2 - We present an O(n2) algorithm for planning a coordinated collision-free motion of two independent robot systems of certain kinds, each having two degrees of freedom, which move in the plane amidst polygonal obstacles having a total of n corners. We exemplify our technique in the case of two "planar Stanford arms", but also discuss the case of two discs or convex translating objects. The algorithm improves previous algorithms for this kind of problems, and can be extended to a fairly simple general technique for obtaining efficient coordinated motion planning algorithms.
AB - We present an O(n2) algorithm for planning a coordinated collision-free motion of two independent robot systems of certain kinds, each having two degrees of freedom, which move in the plane amidst polygonal obstacles having a total of n corners. We exemplify our technique in the case of two "planar Stanford arms", but also discuss the case of two discs or convex translating objects. The algorithm improves previous algorithms for this kind of problems, and can be extended to a fairly simple general technique for obtaining efficient coordinated motion planning algorithms.
UR - https://www.scopus.com/pages/publications/84976693754
U2 - 10.1145/73393.73426
DO - 10.1145/73393.73426
M3 - ???researchoutput.researchoutputtypes.contributiontobookanthology.conference???
AN - SCOPUS:84976693754
T3 - Proceedings of the 4th Annual Symposium on Computational Geometry, SCG 1988
SP - 319
EP - 328
BT - Proceedings of the 4th Annual Symposium on Computational Geometry, SCG 1988
PB - Association for Computing Machinery, Inc
T2 - 4th Annual Symposium on Computational Geometry, SCG 1988
Y2 - 6 June 1988 through 8 June 1988
ER -