2026-07-22T13:39:11Z https://drops.dagstuhl.de/oai

oai:drops-oai.dagstuhl.de:9536 2024-03-06T10:43:59Z ddc:004 open_access

Soft Subdivision Motion Planning for Complex Planar Robots Zhou, Bo Chiang, Yi-Jen Yap, Chee Computational Geometry Algorithmic Motion Planning Resolution-Exact Algorithms Soft Predicates Planar Robots with Complex Geometry The design and implementation of theoretically-sound robot motion planning algorithms is challenging. Within the framework of resolution-exact algorithms, it is possible to exploit soft predicates for collision detection. The design of soft predicates is a balancing act between easily implementable predicates and their accuracy/effectivity. In this paper, we focus on the class of planar polygonal rigid robots with arbitrarily complex geometry. We exploit the remarkable decomposability property of soft collision-detection predicates of such robots. We introduce a general technique to produce such a decomposition. If the robot is an m-gon, the complexity of this approach scales linearly in m. This contrasts with the O(m^3) complexity known for exact planners. It follows that we can now routinely produce soft predicates for any rigid polygonal robot. This results in resolution-exact planners for such robots within the general Soft Subdivision Search (SSS) framework. This is a significant advancement in the theory of sound and complete planners for planar robots. We implemented such decomposed predicates in our open-source Core Library. The experiments show that our algorithms are effective, perform in real time on non-trivial environments, and can outperform many sampling-based methods. Schloss Dagstuhl – Leibniz-Zentrum für Informatik Bo Zhou and Yi-Jen Chiang and Chee Yap 2018 Is Part Of LIPIcs, Volume 112, 26th Annual European Symposium on Algorithms (ESA 2018) InProceedings Text doc-type:ResearchArticle publishedVersion application/pdf doi:10.4230/LIPIcs.ESA.2018.73 urn:nbn:de:0030-drops-95361 https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ESA.2018.73 eng https://creativecommons.org/licenses/by/3.0/legalcode