DSpace@MIT (Massachusetts Institute of Technology) · 1983 · 126 citations · 8 references
ComputingComputer ScienceComputational GeometryMotion PlanningPath PlanningCollision DetectionGeometry ProcessingObstacle AvoidanceRobot Configuration SpaceRobot Motion PlanningCollision Detection In Configuration SpaceConfiguration Space AnalysisConfiguration Space DecompositionConfiguration Space SearchMotion Planning In Configuration SpaceSubdivision
A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom.
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Spatial Planning: A Configuration Space Approach
Tomás Lozano‐Pérez · IEEE Transactions on Computers · 1983 · 2.1K citations