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 language | English (US) |
|---|---|
| Article number | 6587570 |
| Pages (from-to) | 875-883 |
| Number of pages | 9 |
| Journal | IEEE Transactions on Automation Science and Engineering |
| Volume | 10 |
| Issue number | 4 |
| DOIs | |
| State | Published - 2013 |
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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 journal › Article
}
TY - JOUR
T1 - Robust free space computation for curved planar bodies
AU - Milenkovic, Victor
AU - Sacks, Elisha
AU - Trac, Steven
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
KW - Configuration spaces
KW - robust computational geometry
UR - http://www.scopus.com/inward/record.url?scp=84885573858&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84885573858&partnerID=8YFLogxK
U2 - 10.1109/TASE.2013.2277781
DO - 10.1109/TASE.2013.2277781
M3 - Article
AN - SCOPUS:84885573858
VL - 10
SP - 875
EP - 883
JO - IEEE Transactions on Automation Science and Engineering
JF - IEEE Transactions on Automation Science and Engineering
SN - 1545-5955
IS - 4
M1 - 6587570
ER -