Robust free space computation for curved planar bodies

Victor Milenkovic; Elisha Sacks; Steven Trac

doi:10.1109/TASE.2013.2277781

Robust free space computation for curved planar bodies

Victor Milenkovic, Elisha Sacks, Steven Trac

Computer Science

Research output: Contribution to journal › Article

6 Scopus citations

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	https://doi.org/10.1109/TASE.2013.2277781
State	Published - Sep 2 2013

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Keywords

Configuration spaces
robust computational geometry

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Cite this

Milenkovic, V., Sacks, E., & Trac, S. (2013). Robust free space computation for curved planar bodies. IEEE Transactions on Automation Science and Engineering, 10(4), 875-883. [6587570]. https://doi.org/10.1109/TASE.2013.2277781

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Access to Document

10.1109/TASE.2013.2277781