Dror Atariah, Sunayana Ghosh, and Günter Rote:

On the parameterization and the geometry of the configuration space of a single planar robot

Journal of WSCG 21 (2013), 11–20. Papers from the 21st International Conference on Computer Graphics, Visualization and Computer Vision, Plzeń, Czech Republic, June 24–27, 2013.


We study the configuration space of a planar polygonal robot translating and rotating among polygonal obstacles in the plane. We give explicit parameterizations of the boundary of the forbidden space, and we study geometrical and differential-geometric properties of the various elements which constitute this boundary.

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Last update: August 7, 2013.