Parameterization of configuration space obstacles in three-dimensional rotational motion planning
Przemys{\l}aw Dobrowolski
TL;DR
This paper develops a parameterization method for configuration space obstacles in 3D rotational motion planning, advancing the understanding of the geometric structure involved in planning algorithms.
Contribution
It introduces a novel parameterization of configuration space obstacles for 3D rotational motion planning with triangulated or ball-approximated scenes.
Findings
Provides an exact geometric description of configuration space obstacles.
Facilitates more precise motion planning in 3D environments.
Enhances the theoretical foundation for rotational motion planning algorithms.
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.
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsComputational Geometry and Mesh Generation · Robotic Path Planning Algorithms · Robotics and Sensor-Based Localization