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Sensor Based Intelligent Robots pp 180–199Cite as

Realistic Environment Models and Their Impact on the Exact Solution of the Motion Planning Problem

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 1724))

Abstract

The ability of exact motion planning algorithms to handle all possible environments often leads to high worst-case running times. These high running times are an important reason for the fact that exact algorithms are hardly used in practice. It has been noted that certain weak assumptions on the size of the robot and the distribution of the obstacles in the workspace lead to a drastic reduction of the complexity of the motion planning problem, and, in some cases, to an equally-drastic improvement of the performance of exact motion planning algorithms. We review recent extensions of the known result for one robot in a low-density environment with stationary obstacles to one robot amidst moving obstacles and to two and three robots among stationary obstacles. In addition we consider the consequences of further weakening of the assumptions on the distribution of the obstacles.

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Author information

Authors and Affiliations

  1. Department of Computer Science, Utrecht University, P.O.Box 80089, 3508 TB, Utrecht, The Netherlands

    A. Frank van der Stappen

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  1. A. Frank van der Stappen
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Editors and Affiliations

  1. GVU Center & School of Interactive Computing, College of Computing, Georgia Institute of Technology, 30308, Atlanta, GA, USA

    Henrik I. Christensen

  2. Institute of Computer Science and Applied Mathematics (IAM), University of Bern, Neubrückstr. 10, 3012, Bern, Switzerland

    Horst Bunke

  3. Department of Computer Science, University of Würzburg, P.O. Box, D-91405, Würzburg, Germany

    Hartmut Noltemeier

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© 1999 Springer-Verlag Berlin Heidelberg

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van der Stappen, A.F. (1999). Realistic Environment Models and Their Impact on the Exact Solution of the Motion Planning Problem. In: Christensen, H.I., Bunke, H., Noltemeier, H. (eds) Sensor Based Intelligent Robots. Lecture Notes in Computer Science(), vol 1724. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10705474_10

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  • DOI: https://doi.org/10.1007/10705474_10

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-66933-3

  • Online ISBN: 978-3-540-46619-2

  • eBook Packages: Springer Book Archive

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