Time-minimal paths amidst moving obstacles in three dimensions
A path-planning problem is considered in the presence of moving polygonal obstacles in three dimensions. A particle is to be moved from a given initial position to a destination position amidst polygonal disjoint barriers moving along known linear trajectories. The particle can move in any direction in space with a single constraint that it cannot move faster than a given speed bound. All obstacles are slowly moving, i.e., their speeds are strictly slower than the maximum speed of the particle. The destination point is also permitted to move along a known trajectory and is assumed to be collision-free at all times. Three properties are stated and proved for a time-minimal path amidst moving polygonal barriers. A few extensions are considered, including piecewise linear motions of the obstacles.
- A new algorithm for shortest paths among obstacles in the plane
- A single-exponential upper bound for finding shortest paths in three dimensions
- An algorithm for shortest-path motion in three dimensions
- Approximating shortest paths on a convex polytope in three dimensions
- Motion planning among time dependent obstacles
- Motion planning in the presence of moving obstacles
- Planning a time-minimal motion among moving obstacles
- The Discrete Geodesic Problem
- The Number of Shortest Paths on the Surface of a Polyhedron
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