Reaching a polygon with directional uncertainty

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Assume a robot that, when directed to move in a particular direction, is guaranteed to move inside a cone of angle alpha centered at the specified direction. The robot has to reach a convex polygonal goal G, while avoiding polygonal obstacles of complexity n. We show that the complexity of the safe region, from where the robot can reach the goal with a single motion with uncertainty a, is O(m + n), and can be computed in time O((m + n) log(m + n)), if a is assumed constant.
Publisher
WORLD SCIENTIFIC PUBL CO PTE LTD
Issue Date
2001-04
Language
ENG
Article Type
Article
Citation

INTERNATIONAL JOURNAL OF COMPUTATIONAL GEOMETRY APPLICATIONS, v.11, no.2, pp.197 - 214

ISSN
0218-1959
DOI
10.1142/S0218195901000456
URI
http://hdl.handle.net/10203/313
Appears in Collection
CS-Journal Papers(저널논문)
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