Computing the configuration space for a convex robot on hypercube multiprocessors

John Jenq, Wing Ning Li

Research output: Contribution to journalConference articleResearchpeer-review

2 Citations (Scopus)

Abstract

Computing the configuration space obstacles is an important problem in spatial planning for robotics applications. In this paper, we present parallel algorithm for computing the configuration space obstacles by using hypercube multiprocessors. The digitized images of the obstacles and the robot are stored in an N × N image plane. An algorithm for handling robots whose shapes are arbitrary convex polygons was presented. Our algorithms take O(logN) time and O(1) space which is asymptotically optimal for hypercube computers.

Original languageEnglish
Pages (from-to)160-167
Number of pages8
JournalIEEE Symposium on Parallel and Distributed Processing - Proceedings
StatePublished - 1 Dec 1995
EventProceedings of the 1995 7th IEEE Symposium on Parallel and Distributed Processing - San Antonio, TX, USA
Duration: 25 Oct 199528 Oct 1995

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Robots
Parallel algorithms
Robotics
Planning

Cite this

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title = "Computing the configuration space for a convex robot on hypercube multiprocessors",
abstract = "Computing the configuration space obstacles is an important problem in spatial planning for robotics applications. In this paper, we present parallel algorithm for computing the configuration space obstacles by using hypercube multiprocessors. The digitized images of the obstacles and the robot are stored in an N × N image plane. An algorithm for handling robots whose shapes are arbitrary convex polygons was presented. Our algorithms take O(logN) time and O(1) space which is asymptotically optimal for hypercube computers.",
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Computing the configuration space for a convex robot on hypercube multiprocessors. / Jenq, John; Li, Wing Ning.

In: IEEE Symposium on Parallel and Distributed Processing - Proceedings, 01.12.1995, p. 160-167.

Research output: Contribution to journalConference articleResearchpeer-review

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AB - Computing the configuration space obstacles is an important problem in spatial planning for robotics applications. In this paper, we present parallel algorithm for computing the configuration space obstacles by using hypercube multiprocessors. The digitized images of the obstacles and the robot are stored in an N × N image plane. An algorithm for handling robots whose shapes are arbitrary convex polygons was presented. Our algorithms take O(logN) time and O(1) space which is asymptotically optimal for hypercube computers.

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