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An augmented Voronoi roadmap for 3D translational motion planning for a convex polyhedron moving amidst convex polyhedral obstacles

Abhi Dattasharma, S.Sathiya Keerthi
1995 Theoretical Computer Science  
This paper concerns the development of a piecewise linear Voronoi roadmap for translating a convex polyhedron in a three-dimensional (3-D) polyhedral world.  ...  In genera1 the Voronoi roadmap is incomplete for motion planning, i.e., it can have several disjoint components in one connected component of free space.  ...  We consider the problem of translating a convex polyhedron with nonempty interior amidst convex polyhedra which have nonempty interior and are pairwise interior disjoint.  ... 
doi:10.1016/0304-3975(94)00191-k fatcat:27syqajdsre4hg33qfrmazo3uu

Page 7003 of Mathematical Reviews Vol. , Issue 96k [page]

1996 Mathematical Reviews  
Sathiya (6-IIS-CS; Bangalore) An augmented Voronoi roadmap for 3D translational motion planning for a convex polyhedron moving amidst convex polyhedral obstacles. (English summary) Theoret. Comput.  ...  Summary: “This paper concerns the development of a piecewise linear Voronoi roadmap for translating a convex polyhedron in a three-dimensional (3-D) polyhedral world.  ... 

A Simple Algorithm for Complete Motion Planning of Translating Polyhedral Robots

Gokul Varadhan, Shankar Krishnan, T. V.N. Sriram, Dinesh Manocha
2006 The international journal of robotics research  
We present an algorithm for complete path planning for translating polyhedral robots in 3D.  ...  Instead of exactly computing an explicit representation of the free space, we compute a roadmap that captures its connectivity.  ...  We thank Danny Halperin for many fruitful discussions on the complexity and practical implementations of Minkowski sums in 3D.  ... 
doi:10.1177/0278364906071199 fatcat:rqvcomytqzcrtereyuryntdxki

A Simple Algorithm for Complete Motion Planning of Translating Polyhedral Robots

Gokul Varadhan, Shankar Krishnan, T. V.N. Sriram, Dinesh Manocha
2005 The international journal of robotics research  
We present an algorithm for complete path planning for translating polyhedral robots in 3D.  ...  Instead of exactly computing an explicit representation of the free space, we compute a roadmap that captures its connectivity.  ...  We thank Danny Halperin for many fruitful discussions on the complexity and practical implementations of Minkowski sums in 3D.  ... 
doi:10.1177/0278364905059061 fatcat:cny2ggd2brhphmmmlfthiwotgu

A Simple Algorithm for Complete Motion Planning of Translating Polyhedral Robots [chapter]

Gokul Varadhan, Shankar Krishnan, T.V.N. Sriram, Dinesh Manocha
2005 Springer Tracts in Advanced Robotics  
We present an algorithm for complete path planning for translating polyhedral robots in 3D.  ...  Instead of exactly computing an explicit representation of the free space, we compute a roadmap that captures its connectivity.  ...  We thank Danny Halperin for many fruitful discussions on the complexity and practical implementations of Minkowski sums in 3D.  ... 
doi:10.1007/10991541_30 fatcat:amlsbj4j4jb3hbfsro3r2ezgni

Page 1520 of Mathematical Reviews Vol. 28, Issue Index [page]

Mathematical Reviews  
Sathiya) An augmented Voronoi roadmap for 3D translational motion planning for a convex polyhedron moving amidst convex polyhedral obstacles. (English summary) 96k:68191 Dean, Alice M.  ...  (English summary) 96):68167 — (with Sharir, Micha) Ray shooting amidst convex polyhedra and polyhedral terrains in three dimensions.  ... 

Aalborg Universitet 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces Schøler, Flemming 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces

Flemming Schøler, Thesis
2012 unpublished
Aronov and Sharir [13] presented a randomized algorithm that constructs the 3D configuration space for a convex polyhedral amidst convex polyhedral obstacles.  ...  Paper D presents a method for finding the shortest path for a sphere moving around a single polyhedron in a 3D work space.  ... 
fatcat:kkxks3l3ozg7fhgq4awkjwbwbe