@inproceedings{f026fbdb15204b4ba3b0a9dc30cc9909,

title = "Efficient motion planning for an l-shaped object",

abstract = "We present an algorithm that solves the following motionplanning problem. Given an L-shaped body L and a 2-dimensional region with R point obstacles, decide whether there is a continuous motion connecting two given positions and orientations of L during which L avoids collision with the obstacles. The algorithm requires O(n2 log n) time and O(n2) storage. The algorithm is a variant of the cell-decomposition technique of the configuration space ([SS, LS]) but it employs a new and efficient technique for obtaining a compact representation of the free space, which results in a saving of an order of magnitude. The approach used in our algorithm seems applicable to motion-planning of certain robotic arms whose spaces of free placements have a structure similar to that of the L-shaped body.",

author = "Dan Halperin and Overmars, {Mark H.}",

note = "Publisher Copyright: {\textcopyright} 1989 ACM 0-89791-318-3/89/0006/0094.; 5th Annual Symposium on Computational Geometry, SCG 1989 ; Conference date: 05-06-1989 Through 07-06-1989",

year = "1989",

month = jun,

day = "5",

doi = "10.1145/73833.73852",

language = "אנגלית",

series = "Proceedings of the Annual Symposium on Computational Geometry",

publisher = "Association for Computing Machinery",

pages = "156--166",

booktitle = "Proceedings of the 5th Annual Symposium on Computational Geometry, SCG 1989",

}