Robust free space computation for curved planar bodies

Victor Milenkovic, Elisha Sacks, Steven Trac

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


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
Issue number4
StatePublished - 2013


  • Configuration spaces
  • robust computational geometry

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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