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http://hdl.handle.net/1783.1/696
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| Title: | Reaching a polygon with directional uncertainty |
| Authors: | Cheong, Otfried
Van Oostrum, Rene |
| Keywords: | computational geometry
Motion planning
Uncertainty
Convex polygon |
| Issue Date: | 1998 |
| Citation: | International journal of computational geometry & applications, v. 11, no. 2, 2001, p. 197-214 |
| Series/Report no.: | HKUST Theoretical Computer Science Center Research Report ; HKUST-TCSC-98-01 |
| Abstract: | Assume a robot that, when directed to move in a particular direction, is guaranteed to move inside a cone of angle α centered at the specified direction. The robot has to reach a convex polygonal goal G, while avoiding polygonal obstacles of complexity n. We show that the complexity of the safe region, from where the robot can reach the goal with a single motion with uncertainty α, is O(m + n), and can be computed in time O((m + n) log(m + n)), if α is assumed constant. |
| URI: | http://hdl.handle.net/1783.1/696 |
| Appears in Collections: | CSE TCSC Research Reports
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| 199801.pdf | | 259Kb | Adobe PDF | View/Open |
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