A combinatorial approach to planar non-colliding robot arm motion planning

@article{Streinu2000ACA,
  title={A combinatorial approach to planar non-colliding robot arm motion planning},
  author={I. Streinu},
  journal={Proceedings 41st Annual Symposium on Foundations of Computer Science},
  year={2000},
  pages={443-453}
}
  • I. Streinu
  • Published 2000
  • Mathematics, Computer Science
  • Proceedings 41st Annual Symposium on Foundations of Computer Science
  • We propose a combinatorial approach to plan noncolliding motions for a polygonal bar-and-joint framework. Our approach yields very efficient deterministic algorithms for a category of robot arm motion planning problems with many degrees of freedom, where the known general roadmap techniques would give exponential complexity. It is based on a novel class of one-degree-of-freedom mechanisms induced by pseudo triangulations of planar point sets, for which we provide several equivalent… CONTINUE READING
    175 Citations
    Acute Triangulations of Polygons
    • I. Streinu
    • Mathematics, Computer Science
    • Discret. Comput. Geom.
    • 2005
    • 55
    • PDF
    Configurations and Path Planning of Convex Planar Polygonal Loops
    • 2
    Convexly Stratified Deformation Spaces and Efficient Path Planning for Planar Closed Chains with Revolute Joints
    • 18
    A path planning algorithm for single-ended continuous planar robotic ribbon folding
    • 1
    • PDF
    Parallel-Redrawing Mechanisms, Pseudo-Triangulations and Kinetic Planar Graphs
    • I. Streinu
    • Mathematics, Computer Science
    • Graph Drawing
    • 2005
    • 10
    • PDF
    An energy-driven approach to linkage unfolding
    • 49
    • PDF
    Deformable Free-Space Tilings for Kinetic Collision Detection†
    • 135
    • PDF
    Flattening single-vertex origami: the non-expansive case
    • 3
    • PDF
    Single-Vertex Origami and Spherical Expansive Motions
    • 48
    Construction of Pseudo-triangulation by Incremental Insertion

    References

    SHOWING 1-10 OF 49 REFERENCES
    The complexity of robot motion planning
    • 1,569
    On the movement of robot arms in 2-dimensional bounded regions
    • 95
    Deformable Free-Space Tilings for Kinetic Collision Detection†
    • 135
    • PDF
    On the complexity of reachability and motion planning questions (extended abstract)
    • 39
    Reconfiguring closed polygonal chains in Euclideand-space
    • 73
    • PDF
    Straightening polygonal arcs and convexifying polygonal cycles
    • 172
    • PDF
    Locked and unlocked polygonal chains in 3D
    • 54
    • PDF