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A valuable geometric structure in mobile robot path planning is the complete visibility graph. This letter proposes new parallel algorithms that can be mapped to reconfigurable hardware for construction of the complete visibility graph in an environment with: 1) multiple convex polygonal objects and 2) multiple nonconvex polygonal objects. Results of(More)
Computing the shortest path between a pair of points is an important problem in robotics and intelligent transportation systems. The ability to compute this path in real time is valuable in a number of situations. These include an automaton attempting to reach its destination minimizing chances of collision with obstacles. Previous work on shortest path is(More)
The reduced visibility graph (RVG) is an important structure for computation of shortest paths for mobile robots. An efficient bit representation is proposed to construct segments that are part of the RVG. Based on the bit representation, a hardware-efficient scheme is presented whose computational complexity is O(k<sup>2</sup>log(n/k)), where k is the(More)
The computation of shortest path for a mobile automaton between two points in the plane is considered in this paper. An architecturally-efficient solution based on Dijkstra's algorithm is presented for this problem. Results of implementation in Xilinx FPGA are encouraging: the solution operates at approximately 46 MHz and the implementation for a graph with(More)
An important geometric structure used in robotic path planning and computer graphics is the visibility graph. In this paper, we present a new parallel algorithm to construct the reduced visibility graph that is appropriate for finding shortest paths in a convex polygonal environment. A key feature of the algorithm is that it supports easy mapping to(More)
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