A new efficient motion-planning algorithm for a rod in polygonal space
SCG '86 Proceedings of the second annual symposium on Computational geometry
Moving a ladder in three dimensions: upper and lower bounds
SCG '87 Proceedings of the third annual symposium on Computational geometry
Optimal motion planning for a rod in the plane subject to velocity constraints
SCG '93 Proceedings of the ninth annual symposium on Computational geometry
Obstacle Avoidance Path Planning for Mobile Robot Based on Ant-Q Reinforcement Learning Algorithm
ISNN '07 Proceedings of the 4th international symposium on Neural Networks: Advances in Neural Networks
Stabbing Convex Polygons with a Segment or a Polygon
ESA '08 Proceedings of the 16th annual European symposium on Algorithms
Real-time robot path planning based on a modified pulse-coupled neural network model
IEEE Transactions on Neural Networks
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We present a relatively simple algorithm which runs in time &Ogr;(n2log n) for the above mentioned problem. The algorithm is an optimized variant of the decomposition technique of the configuration space of the ladder, due to Schwartz and Sharir. The algorithm is based on some ideas which may be exploited to improve the efficiency of existing motion-planning algorithms for other more complex robot systems.