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Reaching a polygon with directional uncertainty

Authors Cheong, Otfried
Van Oostrum, Rene
Issue Date 1998
Source International journal of computational geometry & applications , v.11, (2), 2001, p. 197-214
Summary 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.
Language English
Format Technical report
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