Parameterization of configuration space obstacles in three-dimensional rotational motion planning
Computational Geometry
2017-09-21 v1 Robotics
Abstract
This study investigates the exact geometry of the configuration space in three-dimensional rotational motion planning. A parameterization of configuration space obstacles is derived for a given triangulated or ball-approximated scene with an object rotating around a given point. The results obtained are an important step towards a complete description of the rich structure of a configuration space in three-dimensional rotational motion planning.
Keywords
Cite
@article{arxiv.1709.06601,
title = {Parameterization of configuration space obstacles in three-dimensional rotational motion planning},
author = {Przemysław Dobrowolski},
journal= {arXiv preprint arXiv:1709.06601},
year = {2017}
}