DC Field | Value | Language |
---|---|---|
dc.contributor.author | DEBERG, M | ko |
dc.contributor.author | GUIBAS, L | ko |
dc.contributor.author | HALPERIN, D | ko |
dc.contributor.author | OVERMARS, M | ko |
dc.contributor.author | Cheong, Otfried | ko |
dc.contributor.author | SHARIR, M | ko |
dc.contributor.author | TEILLAUD, M | ko |
dc.date.accessioned | 2013-03-03T03:56:59Z | - |
dc.date.available | 2013-03-03T03:56:59Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1995-04 | - |
dc.identifier.citation | THEORETICAL COMPUTER SCIENCE, v.140, no.2, pp.301 - 317 | - |
dc.identifier.issn | 0304-3975 | - |
dc.identifier.uri | http://hdl.handle.net/10203/77107 | - |
dc.description.abstract | We study two problems related to planar motion planning for robots with imperfect control, where, if the robot starts a linear movement in a certain commanded direction, we only know that its actual movement will be confined in a cone of angle alpha centered around the specified direction. First, we consider a single goal region, namely the ''region at infinity'', and a set of polygonal obstacles, modeled as a set S of n line segments. We are interested in the region R(alpha)(S) from where we can reach infinity with a directional uncertainty of alpha. We prove that the maximum complexity of R(alpha)(S) is O(n/alpha(5)). Second, we consider a collection of k polygonal goal regions of total complexity m, but without any obstacles. Here we prove an O(k(3)m) bound on the complexity of the region from where we can reach a goal region with a directional uncertainty of alpha. For both situations we also prove lower bounds on the maximum complexity, and we give efficient algorithms for computing the regions. | - |
dc.language | English | - |
dc.publisher | ELSEVIER SCIENCE BV | - |
dc.subject | COMPLIANT MOTION | - |
dc.subject | COMPLEXITY | - |
dc.title | REACHING A GOAL WITH DIRECTIONAL UNCERTAINTY | - |
dc.type | Article | - |
dc.identifier.wosid | A1995QP53500007 | - |
dc.identifier.scopusid | 2-s2.0-0029634168 | - |
dc.type.rims | ART | - |
dc.citation.volume | 140 | - |
dc.citation.issue | 2 | - |
dc.citation.beginningpage | 301 | - |
dc.citation.endingpage | 317 | - |
dc.citation.publicationname | THEORETICAL COMPUTER SCIENCE | - |
dc.identifier.doi | 10.1016/0304-3975(94)00237-D | - |
dc.contributor.localauthor | Cheong, Otfried | - |
dc.contributor.nonIdAuthor | DEBERG, M | - |
dc.contributor.nonIdAuthor | GUIBAS, L | - |
dc.contributor.nonIdAuthor | HALPERIN, D | - |
dc.contributor.nonIdAuthor | OVERMARS, M | - |
dc.contributor.nonIdAuthor | SHARIR, M | - |
dc.contributor.nonIdAuthor | TEILLAUD, M | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordPlus | COMPLIANT MOTION | - |
dc.subject.keywordPlus | COMPLEXITY | - |
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