Principles of artificial intelligence
Principles of artificial intelligence
The complexity of robot motion planning
The complexity of robot motion planning
Cascading divide-and-conquer: a technique for designing parallel algorithms
SIAM Journal on Computing
Applications of spatial data structures: Computer graphics, image processing, and GIS
Applications of spatial data structures: Computer graphics, image processing, and GIS
The design and analysis of spatial data structures
The design and analysis of spatial data structures
On the general motion-planning problem with two degrees of freedom
Discrete & Computational Geometry - Selected papers from the fourth ACM symposium on computational geometry, Univ. of Illinois, Urbana-Champaign, June 6 8, 1988
Determining the separation of preprocessed polyhedra: a unified approach
Proceedings of the seventeenth international colloquium on Automata, languages and programming
Computational Geometry: Theory and Applications
The complexity of the free space for a robot moving amidst fat obstacles
Computational Geometry: Theory and Applications
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
On fast planning of suboptimal paths amidst polygonal obstacles in plane
Theoretical Computer Science - Special issue on design and analysis of geometrical algorithms for robot motion planning and vision
On Translational Motion Planning of a Convex Polyhedron in 3-Space
SIAM Journal on Computing
Convex minimization on a grid and applications
Journal of Algorithms
Robot Motion Planning
A Solid Modelling System for Robot Action Planning
IEEE Computer Graphics and Applications
Motion planning for manipulators in complex environments
Proceedings of the Workshop on Geometry and Robotics
Simplified motion planning strategies in flexible manufacturing
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
Micro air vehicle path planning in fuzzy quadtree framework
Applied Soft Computing
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This paper presents a thorough discussion of the potential of a new cell-subdivision approach to plan translations of a convex polygon in a cluttered environment, where the focus is on planning simple motions on the basis of a fine-grained description of the workspace. A free path is planned in two main stages. The first stage exploits a plane-sweep paradigm in order to build a cell subdivision holding much relevant topological information on the free space and organizing a set of polygonal chains that approximate the boundaries of the configuration space obstacles. Then, the computations in the second stage are driven by an A* scheme designed to search the cell subdivision. During the search the bounding chains are subject to further refinements, but the cell graph is no longer modified. Among the remarkable features of the proposed technique we can mention: simple interface with the geometric modeler, based on two collision-detection primitives; small number of cells and adjacencies; incremental characterization of the free space. A few numerical results suggest that the new technique should be worth considering for applications, where appropriate; in particular, it seems to perform better than other approaches based on quadtrees. Moreover, it is quite interesting to observe that the cost of finding collision-free paths grows with the number of convex obstacles, whereas it is almost independent of the overall number of sides: we can interpret this result as supporting the choice of representing the obstacles decomposed into convex components. A succinct comparison between algorithmic and human intuitive path planning is also discussed in order to appraise the rate of redundant information processed by the algorithm, but we can also see that human planners behave significantly better only when the solutions are easy to find.