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This paper presents a definition of convexity useful for describing local optimality in configuration spaces, proves that finding convex regions is relatively easy, and presents an algorithm for approximating the free configuration space using a set of such convex regions. The paper examines simple but interesting systems: serial planar arms with revolute(More)
This paper proposes sampling techniques to approximate the configuration space for optimal motion planning. We sample valid configurations in the workspace and construct path subconvex cells in the free configuration space. The radius of each cell is calculated using lower bounds on the robot's minimum time to collision. Using theorems about path convexity,(More)
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