Constructing roadmaps of semi-algebraic sets. I: Completeness (Q1117992)
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scientific article; zbMATH DE number 4093635
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| English | Constructing roadmaps of semi-algebraic sets. I: Completeness |
scientific article; zbMATH DE number 4093635 |
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Constructing roadmaps of semi-algebraic sets. I: Completeness (English)
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1988
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Both collision-free motion of a robot arm and of the free polyhedron can be described in so-called configuration space. Physical obstacles are represented as forbidden regions, and collision-free motion is given by paths avoiding these regions. This paper indicates how to construct a one-dimensional subset C - the roadmap - in the set of allowable configurations S, so that every connected component of S contains exactly one connected component of C. - The author intends to describe an algorithm which uses the roadmap to decide whether two points in S belong to the same connected component and, if so, constructs a path between them, using the roadmap.
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collision-free motion
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configurations
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roadmap
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0.8261861205101013
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0.8024026155471802
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