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Robust Free Space Computation for Curved Planar Bodies

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3 Author(s)
Milenkovic, V. ; Dept. of Comput. Sci., Univ. of Miami, Coral Gables, FL, USA ; Sacks, E. ; Trac, S.

We present a free space computation algorithm for two planar bodies bounded by line segments and circular arcs. The computational complexity is O(((mn)2+k)log(mn)) with m and n the number of boundary curves of the two bodies, and with k the number of configurations with three pairs of curves in contact. Although k is in O((mn)3), mild input restrictions reduce it to O(mn). We develop a robust implementation that is accurate, is fast, and handles degenerate input.

Published in:

Automation Science and Engineering, IEEE Transactions on  (Volume:10 ,  Issue: 4 )

Date of Publication:

Oct. 2013

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