### 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 language | English |
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Pages (from-to) | 160-167 |

Number of pages | 8 |

Journal | IEEE Symposium on Parallel and Distributed Processing - Proceedings |

State | Published - 1 Dec 1995 |

Event | Proceedings of the 1995 7th IEEE Symposium on Parallel and Distributed Processing - San Antonio, TX, USA Duration: 25 Oct 1995 → 28 Oct 1995 |

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### Cite this

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**Computing the configuration space for a convex robot on hypercube multiprocessors.** / Jenq, John; Li, Wing Ning.

Research output: Contribution to journal › Conference article › Research › peer-review

TY - JOUR

T1 - Computing the configuration space for a convex robot on hypercube multiprocessors

AU - Jenq, John

AU - Li, Wing Ning

PY - 1995/12/1

Y1 - 1995/12/1

N2 - 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.

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.

UR - http://www.scopus.com/inward/record.url?scp=0029539485&partnerID=8YFLogxK

M3 - Conference article

SP - 160

EP - 167

JO - IEEE Symposium on Parallel and Distributed Processing - Proceedings

JF - IEEE Symposium on Parallel and Distributed Processing - Proceedings

SN - 1063-6374

ER -