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Characterizing minimum-length coordinated motions for two disks Liu, Paul
Abstract
We study the problem of determining optimal coordinated motions for two disc robots in an otherwise obstacle-free plane. Using the total path length traced by the two disc centres as a measure of distance, we give an exact characterization of a shortest (but not necessarily unique) collision-avoiding motion for all initial and final configurations of the robots. The individual paths are composed of at most six (straight or circular-arc) segments, and their total length can be expressed as a simple integral with a closed form solution depending only on the initial and final configuration of the robots. Furthermore, the paths can be parametrized in such a way that (i) only one robot is moving at any given time (decoupled motion), or (ii) the angle between the two robots’ centres changes monotonically.
Item Metadata
Title |
Characterizing minimum-length coordinated motions for two disks
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
2017
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Description |
We study the problem of determining optimal coordinated motions for two disc robots in an otherwise obstacle-free plane. Using the total path length traced by the two disc centres as a measure of distance, we give an exact characterization of a shortest (but not necessarily unique) collision-avoiding motion for all initial and final configurations of the robots. The individual paths are composed of at most six (straight or circular-arc) segments, and their total length can be expressed as a simple integral with a closed form solution depending only on the initial and final
configuration of the robots. Furthermore, the paths can be parametrized in such a way that (i) only one robot is moving at any given time (decoupled motion), or (ii) the angle between the two robots’ centres changes monotonically.
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Genre | |
Type | |
Language |
eng
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Date Available |
2017-04-24
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Provider |
Vancouver : University of British Columbia Library
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Rights |
Attribution 4.0 International
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DOI |
10.14288/1.0345619
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
2017-05
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Campus | |
Scholarly Level |
Graduate
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Rights URI | |
Aggregated Source Repository |
DSpace
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Item Citations and Data
Rights
Attribution 4.0 International