Colm Ó'Dúnlaing

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The two-dimensional <underline>Movers' Problem</underline> may be stated as follows: Given a set of polygonal obstacles in the plane, and a two-dimensional robot system B, determine whether one can move B from a given placement to another without touching any obstacle, and plan such a motion when one exists. Efficient algorithms are presented for the two(More)
A bodyB must move from a placementZ 0 to a placementZ 1, while avoiding collision with a setS of moving obstacles. The motion must satisfy an inertial constraint: the acceleration cannot exceed a given boundM. The problem is analyzed, and polynomial-time motion-planning algorithms are given for the case of a particle moving in one dimension.
We present a collection of algorithms, all running in timeO(n 2 logn α (n) o(α(n)3)) for some fixed integers(where α(n) is the inverse Ackermann's function), for constructing a skeleton representation of a suitably generalized “Voronoi diagram” for a ladder moving in a two-dimensional space bounded by polygonal barriers consisting ofn line segments. This(More)