Cart (Loading....) | Create Account
Close category search window

Robust Free Space Computation for Curved Planar Bodies

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.