Abstract
We present algebraic algorithms to generate the boundary of planar configuration space obstacles arising from the translatory motion of objects among obstacles. Both the boundaries of the objects and obstacles are given by segments of algebraic plane curves.
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Communicated by John E. Hopcroft.
Research supported in part by NSF Grant MIP-85-21356 and a David Ross Fellowship. An earlier version of this paper appeared in theProceedings of the 1987 IEEE International Conference on Robotics and Automation, pp. 979–984.
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Bajaj, C.L., Kim, M.S. Generation of configuration space obstacles: The case of moving algebraic curves. Algorithmica 4, 157–172 (1989). https://doi.org/10.1007/BF01553884
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DOI: https://doi.org/10.1007/BF01553884