Coverage Diameters of Polygons
Vongmasa, P.
Sudsang, A.
Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok;
This paper appears in: Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Publication Date: 9-15 Oct. 2006
On page(s): 4036-4041
Location: Beijing,
ISBN: 1-4244-0258-1
INSPEC Accession Number: 9419406
Digital Object Identifier: 10.1109/IROS.2006.281864
Current Version Published: 2007-01-15
Abstract
This paper formalizes and proposes an algorithm to compute coverage diameters of polygons in 2D. Roughly speaking, the coverage diameter of a polygon is the longest possible distance between two points through which the polygon cannot pass in between. The primary use of coverage diameter is to form a cage for transporting an object, not necessarily convex, with multiple disc-shaped robots. The main idea of the computation of coverage diameter is to convert the problem into a graph structure, then perform the search for a solution path in that graph. The proposed algorithm runs in O(n2 log n) time for the input polygon with n vertices
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