Models and Motion Planning

@inproceedings{Berg1998ModelsAM,
  title={Models and Motion Planning},
  author={Mark de Berg and Matthew J. Katz and Mark H. Overmars and A. Frank van der Stappen and Jules Vleugels},
  booktitle={SWAT},
  year={1998}
}
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

Topics from this paper.

Citations

Publications citing this paper.
SHOWING 1-10 OF 11 CITATIONS