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Nonholonomic path planning for pushing a disk among obstacles

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4 Author(s)
Agarwal, Pankaj K. ; Dept. of Comput. Sci., Duke Univ., Durham, NC, USA ; Latombe, J.-C. ; Motwani, R. ; Raghavan, P.

We consider the path-planning problem for a robot pushing an object in an environment containing obstacles. This new variant of the classical robot path-planning problem has several interesting geometric aspects, which we explore. We focus on the setting where the robot makes a point contact with the object which is assumed to be a unit disk, while the obstacles are assumed to be polygonal

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997