Journal ArticleDOI
Computing the configuration space for a robot on a mesh-of-processors☆
Frank Dehne,Anne-Lise Hassenklover,Jörg-Rüdiger Sack +2 more
- Vol. 12, Iss: 2, pp 221-231
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TLDR
In this paper, a systolic algorithm for computing the configuration space of an arrangement of arbitrary obstacles in the plane for a rectilinearly convex robot is presented, where the obstacles and the robot are assumed to be represented in digitized form by a √ n × √n nibary image.Abstract:
In this paper, we present a systolic algorithm for computing the configuration space of an arrangement of arbitrary obstacles in the plane for a rectilinearly convex robot. The obstacles and the robot are assumed to be represented in digitized form by a √n × √n nibary image. The algorithm is designed for a Mesh-of-Processors architecture with n processors (using the canonical representation of an image on a processor array) and has an execution time of O(√n) which is asymptotically optimal.read more
Citations
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Journal ArticleDOI
Computation of configuration-space obstacles using the fast Fourier transform
TL;DR: This paper presents a new method for computing the configuration-space map of obstacles that is used in motion-planning algorithms, and is particularly promising for workspaces with many and/or complicated obstacles, or when the shape of the robot is not simple.
DissertationDOI
Random Networks in Configuration Space for Fast Path Planning
TL;DR: A new path planning method which computes collision-free paths for robots of virtually any type moving among stationary obstacles, and it is proved that this problem is NP-complete.
Journal ArticleDOI
Multi-start simulated annealing heuristic for the location routing problem with simultaneous pickup and delivery
Vincent F. Yu,Shih-Wei Lin +1 more
TL;DR: A multi-start simulated annealing (MSA) algorithm for solving LRPSPD is proposed which incorporates multi- Start hill climbing strategy into simulatedAnnealing framework and results indicate that the multi- start strategy can significantly enhance the performance of traditional single- start simulated anNEaling algorithm.
BookDOI
Advances in Spatial Data Handling
TL;DR: A new method called SCART which differs from conventional decision trees by considering the specifics of geographical data, namely their organisation in thematic layers, and their spatial relationships is proposed.
Journal ArticleDOI
A Survey of Global Configuration-Space Mapping Techniques for a Single Robot in a Static Environment:
Kevin D. Wise,Adrian Bowyer +1 more
TL;DR: This survey aims to provide the developer of a C-space-based system with an overview of those techniques that map the global C- space of a single robot in a static environment and discusses issues concerning how the robot and its environment are modeled and describes a range of schemes used to represent aC-space map.
References
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Journal ArticleDOI
Spatial Planning: A Configuration Space Approach
TL;DR: In this article, the authors propose an approach based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object.
Journal ArticleDOI
Sorting on a mesh-connected parallel computer
C. D. Thompson,Hsiang-Tsung Kung +1 more
TL;DR: Two algorithms are presented for sorting n2 elements on an n × n mesh-connected processor array that require O (n) routing and comparison steps and are shown to be optimal in time within small constant factors.
Journal ArticleDOI
Finding Connected Components and Connected Ones on a Mesh-Connected Parallel Computer
David Nassimi,Sartaj Sahni +1 more
TL;DR: An O(q^3 (q + d)n\log n) algorithm to find the connected components of G on a q-dimensional mesh-connected parallel computer and shows that the connected ones problem can be solved in time.
Journal ArticleDOI
Computer Architectures for Pictorial Information Systems
P.-E. Danielsson,S. Levialdi +1 more
TL;DR: In the international search for the optimal image processing computer architecture, image parallelism is the key to cost effectiveness.
Journal ArticleDOI
Parallel computer architectures for image processing
TL;DR: The fundamental problems of developing an effective MSIMD system are discussed and a simple SIMD/MIMD computational model for comparison with such systems is proposed.