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Title: Reaching a polygon with directional uncertainty
Authors: Cheong, Otfried
Van Oostrum, Rene
Keywords: computational geometry
Motion planning
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.
Appears in Collections:CSE TCSC Research Reports

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