# A "Piano Movers" Problem Reformulated

@article{Wilson2013AM, title={A "Piano Movers" Problem Reformulated}, author={David J. Wilson and J. Davenport and M. England and R. Bradford}, journal={2013 15th International Symposium on Symbolic and Numeric Algorithms for Scientific Computing}, year={2013}, pages={53-60} }

It has long been known that cylindrical algebraic decompositions (CADs) can in theory be used for robot motion planning. However, in practice even the simplest examples can be too complicated to tackle. We consider in detail a ``Piano Mover's Problem'' which considers moving an infinitesimally thin piano (or ladder) through a right-angled corridor. Producing a CAD for the original formulation of this problem is still infeasible after 25 years of improvements in both CAD theory and computer… Expand

#### 24 Citations

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