Optimal hypercube algorithms for robot configuration space computation

Jing Fu Jenq, Wing Ning Li

Research output: Contribution to conferencePaper

2 Scopus citations

Abstract

Computing the configuration space is an important problem in spatial planning for robotics applications. In this paper, we present parallel algorithms for computing the configuration space by using hypercube multiprocessors. The digitized images of the obstacles and the robot are stored in an N×N image plane. In this paper, we develop optimal hypercube algorithms to compute the configuration space for circle and rectangle shaped robots. We also develop several new basic hypercube operations. The time complexity of all the algorithms is O (logN) and is asymptotically optimal for hypercube computers. The space complexity of each processor is O (1) which is again optimal.

Original languageEnglish
Pages182-186
Number of pages5
StatePublished - 1 Jan 1995
EventProceedings of the 1995 ACM Symposium on Applied Computing - Nashville, TN, USA
Duration: 26 Feb 199528 Feb 1995

Other

OtherProceedings of the 1995 ACM Symposium on Applied Computing
CityNashville, TN, USA
Period26/02/9528/02/95

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    Jenq, J. F., & Li, W. N. (1995). Optimal hypercube algorithms for robot configuration space computation. 182-186. Paper presented at Proceedings of the 1995 ACM Symposium on Applied Computing, Nashville, TN, USA, .