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 › peer-review

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 - 2013

Keywords

Configuration spaces
robust computational geometry

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/TASE.2013.2277781

Cite this

@article{d6abe4e3619444239c4cb46e74641842,

title = "Robust free space computation for curved planar bodies",

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.",

keywords = "Configuration spaces, robust computational geometry",

author = "Victor Milenkovic and Elisha Sacks and Steven Trac",

year = "2013",

doi = "10.1109/TASE.2013.2277781",

language = "English (US)",

volume = "10",

pages = "875--883",

journal = "IEEE Transactions on Automation Science and Engineering",

issn = "1545-5955",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "4",

}

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 -

Robust free space computation for curved planar bodies

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this