Planning motion in point-represented contact spaces using approximate star-shaped decomposition

Authors:
Jyh-Ming Lien;Yanyan Lu
Affiliations:
Department of Computer Science, George Mason University, Fairfax, VA;Department of Computer Science, George Mason University, Fairfax, VA
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

Star-shaped decomposition partitions a shape into a set of star-shaped components. A shape is star shaped if and only if there exists at least one point which can see all the points in the shape. Due to this interesting property, decomposing a configuration space into star-shaped components can be beneficial, e.g., for solving motion planning problem. In this paper, we propose a simple method to decompose the contact space, represented by point set data, into approximate star-shaped components. We propose two motion planning methods, one deterministic and one probabilistic, both based on this idea.