Efficient algorithms for exact motion planning amidst fat obstacles

A. Frank van der Stappen; Dan Halperin; Mark H. Overmars

Efficient algorithms for exact motion planning amidst fat obstacles

A. Frank van der Stappen, Dan Halperin, Mark H. Overmars

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

Abstract

The complexity of exact motion planning algorithms highly depends on the complexity of the robot's free space, i.e., the set of all collision-free placements of the robot. Theoretically, the complexity of the free space can be very high. In practice, the complexity of the free space tends to be much smaller. We show that, under some realistic assumptions, the complexity of the free space of a robot moving amidst fat obstacles is linear in the number of obstacles. The complexity results lead to efficient algorithms for motion planning amidst fat obstacles.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Editors	Anon
Publisher	Publ by IEEE
Pages	297-304
Number of pages	8
ISBN (Print)	0818634529
State	Published - 1993
Externally published	Yes
Event	Proceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA Duration: 2 May 1993 → 6 May 1993

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
ISSN (Print)	1050-4729

Conference

Conference	Proceedings of the IEEE International Conference on Robotics and Automation
City	Atlanta, GA, USA
Period	2/05/93 → 6/05/93

Cite this

@inproceedings{2394c2d97be54634b48fc0750eaa382b,

title = "Efficient algorithms for exact motion planning amidst fat obstacles",

abstract = "The complexity of exact motion planning algorithms highly depends on the complexity of the robot's free space, i.e., the set of all collision-free placements of the robot. Theoretically, the complexity of the free space can be very high. In practice, the complexity of the free space tends to be much smaller. We show that, under some realistic assumptions, the complexity of the free space of a robot moving amidst fat obstacles is linear in the number of obstacles. The complexity results lead to efficient algorithms for motion planning amidst fat obstacles.",

author = "{van der Stappen}, {A. Frank} and Dan Halperin and Overmars, {Mark H.}",

year = "1993",

language = "אנגלית",

isbn = "0818634529",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Publ by IEEE",

pages = "297--304",

editor = "Anon",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

note = "null ; Conference date: 02-05-1993 Through 06-05-1993",

}

van der Stappen, AF, Halperin, D & Overmars, MH 1993, Efficient algorithms for exact motion planning amidst fat obstacles. in Anon (ed.), Proceedings - IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 1, Publ by IEEE, pp. 297-304, Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, USA, 2/05/93.

Efficient algorithms for exact motion planning amidst fat obstacles. / van der Stappen, A. Frank; Halperin, Dan; Overmars, Mark H.

Proceedings - IEEE International Conference on Robotics and Automation. ed. / Anon. Publ by IEEE, 1993. p. 297-304 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1).

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

TY - GEN

T1 - Efficient algorithms for exact motion planning amidst fat obstacles

AU - van der Stappen, A. Frank

AU - Halperin, Dan

AU - Overmars, Mark H.

PY - 1993

Y1 - 1993

N2 - The complexity of exact motion planning algorithms highly depends on the complexity of the robot's free space, i.e., the set of all collision-free placements of the robot. Theoretically, the complexity of the free space can be very high. In practice, the complexity of the free space tends to be much smaller. We show that, under some realistic assumptions, the complexity of the free space of a robot moving amidst fat obstacles is linear in the number of obstacles. The complexity results lead to efficient algorithms for motion planning amidst fat obstacles.

AB - The complexity of exact motion planning algorithms highly depends on the complexity of the robot's free space, i.e., the set of all collision-free placements of the robot. Theoretically, the complexity of the free space can be very high. In practice, the complexity of the free space tends to be much smaller. We show that, under some realistic assumptions, the complexity of the free space of a robot moving amidst fat obstacles is linear in the number of obstacles. The complexity results lead to efficient algorithms for motion planning amidst fat obstacles.

UR - http://www.scopus.com/inward/record.url?scp=0027147648&partnerID=8YFLogxK

M3 - ???researchoutput.researchoutputtypes.contributiontobookanthology.conference???

AN - SCOPUS:0027147648

SN - 0818634529

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 297

EP - 304

BT - Proceedings - IEEE International Conference on Robotics and Automation

A2 - Anon, null

PB - Publ by IEEE

Y2 - 2 May 1993 through 6 May 1993

ER -

Efficient algorithms for exact motion planning amidst fat obstacles

Abstract

Publication series

Conference

Other files and links

Fingerprint

Cite this