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A subdivision algorithm in configuration space for findpath with rotation

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2 Author(s)
Brooks, R.A. ; Artificial Intelligence Lab., MIT, Cambridge, MA, USA ; Lozano-Perez, T.

A recursive cellular representation for configuration space is presented along with an algorithm for searching that space for collision-free paths. The details of the algorithm are presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom.

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:SMC-15 ,  Issue: 2 )