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Document type:
Technical Report 
Author(s):
Achim Schweikard 
Title:
Detecting Geometric Infeasibility 
Abstract:
An exact and practical method for translational motion planning with many degrees of freedom is derived. It is shown that certain $D-$dimensional arrangements of hyperplanes can be searched in the following way: only a single connected component is traversed during the search, and the arrangement is searched as an arrangement of surface patches rather than full hyperplanes. This reduction in search effort allows for polynomial time bounds in appropriate cases. Heuristic and randomized planners c...    »
 
Keywords:
geometric reasoning; assembly planning; motion planning; complete algorithms; arrangement computation in $D$ dimensions. 
Year:
1996 
Year / month:
1996-06-01 00:00:00 
Pages:
19