Models and Motion Planning

  title={Models and Motion Planning},
  author={M. Berg and M. Katz and M. Overmars and A. Stappen and J. Vleugels},
  • M. Berg, M. Katz, +2 authors J. Vleugels
  • Published in SWAT 1998
  • Computer Science, Mathematics
  • We study the consequences of two of the realistic input models proposed in the literature, namely unclutteredness and small simple-cover complexity, for the motion planning problem. We show that the complexity of the free space of a bounded-reach robot with f degrees of freedom is O(n f/2) in the plane, and O(n 2f/3) in three dimensions, for both uncluttered environments and environments of small simple-cover complexity. We also give an example showing that these bounds are tight in the worst… CONTINUE READING
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