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 proceedingConference contributionpeer-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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages297-304
Number of pages8
ISBN (Print)0818634529
StatePublished - 1993
Externally publishedYes
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: 2 May 19936 May 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Conference

ConferenceProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period2/05/936/05/93

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