Motion Planning for a Convex Polygon in a Polygonal Environment
نویسندگان
چکیده
منابع مشابه
Motion Planning for a Convex Polygon in a Polygonal Environment
We study the motion-planning problem for a convex m-gon P in a planar polygonal environment Q bounded by n edges. We give the rst algorithm that constructs the entire free connguration space (the 3-dimensional space of all free placements of P in Q) in time that is near-quadratic in mn, which is nearly optimal in the worst case. The algorithm is also conceptually relatively simple. Previous sol...
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We consider the problem of planning the motion of an arbitrary k-sided polygonal robot B, free to translate and rotate in a polygonal environment V bounded by n edges. We present an algorithm that constructs a single component of the free connguration space of B in time O((kn) 2+"), for any " > 0. This algorithm, combined with some standard techniques in motion planning, yields a solution to th...
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We consider the problem of planning the motion of an arbitrary k-sided polygonal robot B, free to translate and rotate in a polygonal environment V bounded by n edges. We show that the combinatorial complexity of a single connected component of the free configuration space of B is k3n220('oga'sn). This is a significant improvement of the naive bound O((kn)"); when k is constant, which is often ...
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We consider the following class of polygon-constrained motion planning problems: Given a set of k centrally controlled mobile agents (say pebbles) initially sitting on the vertices of an n-vertex simple polygon P , we study how to plan their vertex-to-vertex motion in order to reach with a minimum (either maximum or total) movement (either in terms of number of hops or Euclidean distance) a fin...
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The concept of convex polygon-offset distance function was introduced in 2001 by Barequet, Dickerson, and Goodrich. Using this notion of point-to-point distance, they showed how to compute the corresponding nearestand farthest-site Voronoi diagram for a set of points. In this paper we generalize the polygon-offset distance function to be from a point to any convex object with respect to an m-si...
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ژورنال
عنوان ژورنال: Discrete & Computational Geometry
سال: 1999
ISSN: 0179-5376
DOI: 10.1007/pl00009455