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Computing the configuration space for a convex robot on hypercube multiprocessors

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2 Author(s)
Jing-Fu Jenq ; Dept. of Comput. Sci., Tennessee State Univ., Nashville, TN, USA ; Li, W.N.

Computing the configuration space obstacles is an important problem in spatial planning for robotics applications. In this paper we present a parallel algorithm for computing the configuration space obstacles by using hypercube multiprocessors. The digitized images of the obstacles and the robot are stored in an N×N image plane. An algorithm for handling robots whose shapes are arbitrary convex polygons was presented. Our algorithms take O(logN) time and O(I) space which is asymptotically optimal for hypercube computers

Published in:

Parallel and Distributed Processing, 1995. Proceedings. Seventh IEEE Symposium on

Date of Conference:

25-28 Oct 1995

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