### Abstract

The reconfigurable mesh (RMESH) is an array of mesh-connected processors equipped with a reconfigurable bus system, which can dynamically connect the processors in various patterns. A 2D reconfigurable mesh can be used to solve motion planning problems in robotics research, in which the 2D image of robot and obstacles are digitized and represented one pixel per processor. In this paper, we present an algorithm to compute a collision-free path between two points in an environment containing obstacles. The time complexity of the algorithm is O (k) for each pair of source/destination points, with O (log^{2} N) preprocessing time, where k is the number of obstacles in the working environment, and N is the size of the reconfigurable mesh.

Original language | English |
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Pages (from-to) | 487-496 |

Number of pages | 10 |

Journal | Parallel Computing |

Volume | 34 |

Issue number | 9 |

DOIs | |

State | Published - 1 Sep 2008 |

### Fingerprint

### Keywords

- Image processing
- Motion planning
- Parallel algorithms
- Path planning
- Reconfigurable mesh
- Robotics

### Cite this

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*Parallel Computing*, vol. 34, no. 9, pp. 487-496. https://doi.org/10.1016/j.parco.2008.03.002

**A linear-time algorithm for computing collision-free path on reconfigurable mesh.** / Wang, Dajin.

Research output: Contribution to journal › Article › Research › peer-review

TY - JOUR

T1 - A linear-time algorithm for computing collision-free path on reconfigurable mesh

AU - Wang, Dajin

PY - 2008/9/1

Y1 - 2008/9/1

N2 - The reconfigurable mesh (RMESH) is an array of mesh-connected processors equipped with a reconfigurable bus system, which can dynamically connect the processors in various patterns. A 2D reconfigurable mesh can be used to solve motion planning problems in robotics research, in which the 2D image of robot and obstacles are digitized and represented one pixel per processor. In this paper, we present an algorithm to compute a collision-free path between two points in an environment containing obstacles. The time complexity of the algorithm is O (k) for each pair of source/destination points, with O (log2 N) preprocessing time, where k is the number of obstacles in the working environment, and N is the size of the reconfigurable mesh.

AB - The reconfigurable mesh (RMESH) is an array of mesh-connected processors equipped with a reconfigurable bus system, which can dynamically connect the processors in various patterns. A 2D reconfigurable mesh can be used to solve motion planning problems in robotics research, in which the 2D image of robot and obstacles are digitized and represented one pixel per processor. In this paper, we present an algorithm to compute a collision-free path between two points in an environment containing obstacles. The time complexity of the algorithm is O (k) for each pair of source/destination points, with O (log2 N) preprocessing time, where k is the number of obstacles in the working environment, and N is the size of the reconfigurable mesh.

KW - Image processing

KW - Motion planning

KW - Parallel algorithms

KW - Path planning

KW - Reconfigurable mesh

KW - Robotics

UR - http://www.scopus.com/inward/record.url?scp=50049115548&partnerID=8YFLogxK

U2 - 10.1016/j.parco.2008.03.002

DO - 10.1016/j.parco.2008.03.002

M3 - Article

VL - 34

SP - 487

EP - 496

JO - Parallel Computing

JF - Parallel Computing

SN - 0167-8191

IS - 9

ER -