TY - JOUR

T1 - On the Piano Movers' Problem

T2 - III. Coordinating the Motion of Several Independent Bodies: The Special Case of Circular Bodies Moving Amidst Polygonal Barriers

AU - Schwartz, Jacob T.

AU - Sharir, Micha

PY - 1983/9

Y1 - 1983/9

N2 - We present an algorithm that solves the following motion- planning problem that arises in robotics: Given several two-dimensional circular bodies B1B2,…, and a region bounded by a collection of “walls,” either find a continuous motion connecting two given configurations of these bodies during which they avoid collision with the walls and with each other, or else establish that no such motion exists. This paper continues other studies by the authors on motion- planning algorithms for other kinds of moving objects. The algorithms presented are polynomial in the number of walls for each fixed number of moving circles (for two moving circles the algorithm is shown to run in time O(n3) if n is the number of walls), but with exponents increasing with the number of moving circles.

AB - We present an algorithm that solves the following motion- planning problem that arises in robotics: Given several two-dimensional circular bodies B1B2,…, and a region bounded by a collection of “walls,” either find a continuous motion connecting two given configurations of these bodies during which they avoid collision with the walls and with each other, or else establish that no such motion exists. This paper continues other studies by the authors on motion- planning algorithms for other kinds of moving objects. The algorithms presented are polynomial in the number of walls for each fixed number of moving circles (for two moving circles the algorithm is shown to run in time O(n3) if n is the number of walls), but with exponents increasing with the number of moving circles.

UR - http://www.scopus.com/inward/record.url?scp=0020809396&partnerID=8YFLogxK

U2 - 10.1177/027836498300200304

DO - 10.1177/027836498300200304

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AN - SCOPUS:0020809396

SN - 0278-3649

VL - 2

SP - 46

EP - 75

JO - International Journal of Robotics Research

JF - International Journal of Robotics Research

IS - 3

ER -