Reachability by paths of bounded curvature in a convex polygon

Handle URI:
http://hdl.handle.net/10754/562037
Title:
Reachability by paths of bounded curvature in a convex polygon
Authors:
Ahn, Heekap; Cheong, Otfried; Matoušek, Jiřǐ; Vigneron, Antoine E. ( 0000-0003-3586-3431 )
Abstract:
Let B be a point robot moving in the plane, whose path is constrained to forward motions with curvature at most 1, and let P be a convex polygon with n vertices. Given a starting configuration (a location and a direction of travel) for B inside P, we characterize the region of all points of P that can be reached by B, and show that it has complexity O(n). We give an O(n2) time algorithm to compute this region. We show that a point is reachable only if it can be reached by a path of type CCSCS, where C denotes a unit circle arc and S denotes a line segment. © 2011 Elsevier B.V.
KAUST Department:
Visual Computing Center (VCC); Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division; Computer Science Program; Geometric Algorithms Group
Publisher:
Elsevier
Journal:
Computational Geometry: Theory and Applications
Issue Date:
Jan-2012
DOI:
10.1016/j.comgeo.2011.07.003
Type:
Article
ISSN:
09257721
Sponsors:
Work by Cheong was supported by Mid-career Researcher Program through NRF grant funded by the MEST (No. R01-2008-000-11607-0). Work by Ahn was supported by the National IT Industry Promotion Agency (NIPA) under the program of Software Engineering Technologies Development.
Appears in Collections:
Articles; Computer Science Program; Visual Computing Center (VCC); Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division

Full metadata record

DC FieldValue Language
dc.contributor.authorAhn, Heekapen
dc.contributor.authorCheong, Otfrieden
dc.contributor.authorMatoušek, Jiřǐen
dc.contributor.authorVigneron, Antoine E.en
dc.date.accessioned2015-08-03T09:43:20Zen
dc.date.available2015-08-03T09:43:20Zen
dc.date.issued2012-01en
dc.identifier.issn09257721en
dc.identifier.doi10.1016/j.comgeo.2011.07.003en
dc.identifier.urihttp://hdl.handle.net/10754/562037en
dc.description.abstractLet B be a point robot moving in the plane, whose path is constrained to forward motions with curvature at most 1, and let P be a convex polygon with n vertices. Given a starting configuration (a location and a direction of travel) for B inside P, we characterize the region of all points of P that can be reached by B, and show that it has complexity O(n). We give an O(n2) time algorithm to compute this region. We show that a point is reachable only if it can be reached by a path of type CCSCS, where C denotes a unit circle arc and S denotes a line segment. © 2011 Elsevier B.V.en
dc.description.sponsorshipWork by Cheong was supported by Mid-career Researcher Program through NRF grant funded by the MEST (No. R01-2008-000-11607-0). Work by Ahn was supported by the National IT Industry Promotion Agency (NIPA) under the program of Software Engineering Technologies Development.en
dc.publisherElsevieren
dc.subjectBounded curvatureen
dc.subjectConvex polygonen
dc.subjectMotion planningen
dc.titleReachability by paths of bounded curvature in a convex polygonen
dc.typeArticleen
dc.contributor.departmentVisual Computing Center (VCC)en
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Divisionen
dc.contributor.departmentComputer Science Programen
dc.contributor.departmentGeometric Algorithms Groupen
dc.identifier.journalComputational Geometry: Theory and Applicationsen
dc.contributor.institutionDepartment of Computer Science and Engineering, Pohang University of Science and Technology, San 31, Hyoja-dong, Nam-gu, Pohang, South Koreaen
dc.contributor.institutionDepartment of Computer Science, KAIST, Daehak-ro 291, Yuseong-gu, Daejeon, South Koreaen
dc.contributor.institutionDept. of Applied Mathematics and Institute of Theoretical Computer Science (ITI), Charles University, Malostranské nám. 25, 118 00 Praha 1, Czech Republicen
kaust.authorVigneron, Antoine E.en
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