Optimal point location in a monotone subdivision
SIAM Journal on Computing
Spatial tessellations: concepts and applications of Voronoi diagrams
Spatial tessellations: concepts and applications of Voronoi diagrams
ACM Transactions on Mathematical Software (TOMS)
Robot Motion Planning
Efficient collision detection for animation and robotics
Efficient collision detection for animation and robotics
Algorithms for Reporting and Counting Geometric Intersections
IEEE Transactions on Computers
A solution to the Path Planning problem using angle preprocessing
Robotics and Autonomous Systems
| Hi-index | 0.01 |
In computer graphics, collision detection is considered a key problem with important applications in related areas. Several solutions have been proposed, but independently of the chosen strategy, different stages of the solution are considered. It is not only relevant to apply a good static collision test, but reducing the pairs of objects susceptible of intersecting is important for a real-time response. Some methods achieve this aim computing a tessellation as preprocessing. The new approach we propose in this paper computes a partition of the plane with similar features to those of the Voronoi Diagram, but changing the Euclidean distance criterion for the minimal polar angle. The result is a new tessellation called polar diagram, in which every object in the scene is owner of a polar region as the locus of points with some common angle properties. Polar diagrams used as preprocessing can be applied to collision detection and many other geometric problems where the solution can be given by angle processing.