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Cited 10 time in webofscience Cited 13 time in scopus
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Reachability by paths of bounded curvature in a convex polygon SCIE SCOPUS

Title
Reachability by paths of bounded curvature in a convex polygon
Authors
Ahn, HKCheong, OMatousek, JVigneron, A
Date Issued
2012-01
Publisher
ELSEVIER SCIENCE BV
Abstract
Let B be a point robot moving in the plane, whose path is constrained to forward motions with curvature at most 1, and let P be a convex polygon with n vertices. Given a starting configuration (a location and a direction of travel) for B inside P. we characterize the region of all points of P that can be reached by B, and show that it has complexity O(n). We give an O(n(2)) time algorithm to compute this region. We show that a point is reachable only if it can be reached by a path of type CCSCS, where C denotes a unit circle arc and S denotes a line segment. (C) 2011 Elsevier B.V. All rights reserved.
Keywords
Motion planning; Bounded curvature; Convex polygon; CONSTRAINED SHORTEST PATHS; TIME ALGORITHM; LINEAR-TIME; OBSTACLES; CURVES; PLANE
URI
https://oasis.postech.ac.kr/handle/2014.oak/17019
DOI
10.1016/J.COMGEO.2011.07.003
ISSN
0925-7721
Article Type
Article
Citation
COMPUTATIONAL GEOMETRY-THEORY AND APPLICATIONS, vol. 45, no. 1-2, page. 21 - 32, 2012-01
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안희갑AHN, HEE-KAP
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