Motion Planning for a Rigid Body Using Random Networks on the Medial Axis of the Free Space.

Steven A. Wilmarth Nancy M. Amato Peter F. Stiller

Published in: SCG (1999)

Keyphrases

motion planning
rigid body
medial axis
free space
medial axes
collision free
degrees of freedom
path planning
mobile robot
humanoid robot
endpoints
distance transform
single point
motion parameters
shape representation
multi robot
field of view
object segmentation
shape analysis