Computing the Configuration Space for a Convex Robot on Hypercube Multiprocessors
Computing the configuration space obstacles is an important problem in spatial planning for robotics applications. In this paper, we present parallel algorithm for computing the configuration space obstacles by using hypercube multiprocessors. The digitized images of the obstacles and the robot are stored in an N × N image plane. An algorithm for handling robots whose shapes are arbitrary convex polygons was presented. Our algorithms take O(logN) time and O(1) space which is asymptotically optimal for hypercube computers.
MSU Digital Commons Citation
Jenq, John and Li, Wing Ning, "Computing the Configuration Space for a Convex Robot on Hypercube Multiprocessors" (1995). Department of Computer Science Faculty Scholarship and Creative Works. 181.