Dror Atariah and Günter Rote:

Configuration space visualization (video)

In: Proceedings of the 28th Annual Symposium on Computational Geometry, Chapel Hill, USA, June 17–20, 2012. Association for Computing Machinery, 2012, pp. 415–416. doi:10.1145/2261250.2261313
Published as part of the 21st Video Review of Computational Geometry.

Abstract

Based on a simple parameterization of contact surfaces, we visualize both the workspace and the corresponding configuration space of a planar polygonal robot that moves amid planar polygonal obstacles.

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