Book ChapterDOI
Path Planning with Local Information
Amitava Datta,Kamala Krithivasan +1 more
- pp 108-121
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TLDR
This work considers the problem of path-planning for a point mobile automaton in the presence of unknown obstacles in a two dimensional space and presents an algorithm which has better worst case complexity than that of Lumelsky and Stepanov.Abstract:
We consider the problem of path-planning for a point mobile automaton in the presence of unknown obstacles in a two dimensional space We present an algorithm which has better worst case complexity than that of Lumelsky and Stepanov [4], which is the best known at presentread more
Citations
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Journal ArticleDOI
Walking an unknown street with bounded detour
TL;DR: For a mobile robot with on-board vision system, a strategy for finding a short path from s to g in a street not known in advance is described, and it is proved that the length of the path created does not exceed 1 + 3 2 π times thelength of the shortest path.
Proceedings ArticleDOI
Walking an unknown street with bounded detour
TL;DR: For a mobile robot with onboard vision, a strategy for finding a short path from s to g in a street not known in advance is described, and it is proved that the length of the path created does not exceed 1+3 pi /2 times the lengthof the shortest path.
Dissertation
Human-Automation Collaborative RRT for UAV Mission Path Planning
TL;DR: The experimental results demonstrated that some variants of the RRT increase subjective workload, but did not provide conclusive evidence for whether using an RRT algorithm for path planning is better than manual path planning in terms of overall mission times.
Proceedings ArticleDOI
Parallel algorithms for the medial axis transform on linear arrays with a reconfigurable pipelined bus system
TL;DR: An O(log log N) bus cycles parallel algorithm for the medial axis transform of an N/spl times/N binary image on a linear array with a reconfigurable pipelined bus system using N/sup 2/ processors is provided.
References
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Journal ArticleDOI
On the “piano movers” problem. II. General techniques for computing topological properties of real algebraic manifolds
Jacob T. Schwartz,Micha Sharir +1 more
TL;DR: In this paper, a decision method for finding a continuous motion connecting two given positions and orientations of the whole collection of bodies is presented. But it is not shown that this problem can be solved in polynomial time.
Journal ArticleDOI
Path-planning strategies for a point mobile automaton moving amidst unknown obstacles of arbitrary shape
TL;DR: A worst-case lower bound on the length of paths generated by any algorithm operating within the framework of the accepted model is developed; the bound is expressed in terms of the perimeters of the obstacles met by the automaton in the scene.
MonographDOI
Turtle Geometry: The Computer as a Medium for Exploring Mathematics
Harold Abelson,Andrea A. diSessa +1 more
TL;DR: Turtle Geometry presents an innovative program of mathematical discovery that demonstrates how the effective use of personal computers can profoundly change the nature of a student's contact with mathematics.
Journal ArticleDOI
On the “piano movers'” problem I. The case of a two‐dimensional rigid polygonal body moving amidst polygonal barriers
Jacob T. Schwartz,Micha Sharir +1 more
TL;DR: In this paper, a two-dimensional case of the problem is solved, where given a body B and a region bounded by a collection of "walls", either find a continuous motion connecting two given positions and orientations of B during which B avoids collision with the walls, or else establish that no such motion exists.