Robust complete path planning in the plane

Victor Milenkovic, Elisha Sacks, Steven Trac

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


We present a complete path planning algorithm for a plane robot with three degrees of freedom and a static obstacle. The part boundaries consist of n linear and circular edges. The algorithmconstructs and searches a combinatorial representation of the robot free space. Its computational complexity is O((n4 +c3) logn) with c3 ∈ O(n6) the number of configurations with three simultaneous contacts between robot and obstacle edges. The algorithm is implemented robustly using our adaptive-precision controlled perturbation library. The program is fast and memory efficient, is provably accurate, and handles degenerate input.

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
EditorsEmilio Frazzoli, Nicholas Roy, Tomas Lozano-Perez, Daniela Rus
PublisherSpringer Verlag
Number of pages16
ISBN (Print)9783642362781
StatePublished - 2013
Event10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012 - Cambridge, United States
Duration: Jun 13 2012Jun 15 2012

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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