平面简单多边形位形空间中的组合路线图

Algorithmic and Quantitative Aspects of Real Algebraic Geometry in Mathematics and Computer Science Pub Date : 1900-01-01 DOI:10.1090/dimacs/060/12

I. Streinu

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引用次数: 16

摘要

为了解决平面机械臂(开放或封闭的多角形链)的一系列非碰撞运动规划问题，作者最近引入了去除一个凸壳边的最小伪三角化诱导的一自由度机构。在简单平面多边形的位形空间中，用

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Combinatorial Roadmaps in Configuration Spaces of Simple Planar Polygons

One-degree-of-freedom mechanisms induced by minimum pseudotriangulations with one convex hull edge removed have been recently introduced by the author to solve a family of non-colliding motion planning problems for planar robot arms (open or closed polygonal chains). They induce canonical roadmaps in configuration spaces of simple planar polygons with

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Algorithmic and Quantitative Aspects of Real Algebraic Geometry in Mathematics and Computer Science

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