Robust free space computation for curved planar bodies

Victor Milenkovic, Elisha Sacks, Steven Trac

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

We present a free space computation algorithm for two planar bodies bounded by line segments and circular arcs. The computational complexity is O(((MN)2+k) log (mn) with and the number of boundary curves of the two bodies, and with the number of configurations with three pairs of curves in contact. Although k is in O((mn)2, mild input restrictions reduce it to (mn). We develop a robust implementation that is accurate, is fast, and handles degenerate input.

Original languageEnglish (US)
Article number6587570
Pages (from-to)875-883
Number of pages9
JournalIEEE Transactions on Automation Science and Engineering
Volume10
Issue number4
DOIs
StatePublished - 2013

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Computational complexity

Keywords

  • Configuration spaces
  • robust computational geometry

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Robust free space computation for curved planar bodies. / Milenkovic, Victor; Sacks, Elisha; Trac, Steven.

In: IEEE Transactions on Automation Science and Engineering, Vol. 10, No. 4, 6587570, 2013, p. 875-883.

Research output: Contribution to journalArticle

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