A Retraction Method for Motion Coordination
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چکیده
We present an algorithm for planning coordinated motions of a pair of convex polygo-nal mobile robots moving in a shared two-dimensional workspace which contains polygonal obstacles. The algorithm uses a generalized Voronoi diagram as a skeleton of the workspace and searches for paths for which the robots remain on this skeleton except in certain regions which have high clearance from the obstacles.
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تاریخ انتشار 1991