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|a 10.1109/TSMCB.2003.808180
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|a eng
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|a Dorst, L
|e verfasserin
|4 aut
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|a Reduction of placement problems using Minkowski decomposition
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|c 2003
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|a Text
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|a ƒaComputermedien
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|a Date Completed 02.10.2012
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|a Date Revised 01.02.2008
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|a published: Print
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|a Citation Status PubMed-not-MEDLINE
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|a The problem of finding collision-free placements for an object amid obstacles has two well-known solutions: the task space approach and the configuration space approach. In this correspondence, we study the mathematical structure of the placement problem, and show that Minkowski decomposition of the object produces a hierarchy of intermediate reformulations. This provides the mathematical foundation for common approximate solution methods already used in applications. In particular, it provides a recipe for discretizing rotations consistently. The methods discussed are particularly effective for simple shapes
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|a Journal Article
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|a Ahmed, N
|e verfasserin
|4 aut
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|i Enthalten in
|t IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society
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|g 33(2003), 1 vom: 28., Seite 133-8
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|u http://dx.doi.org/10.1109/TSMCB.2003.808180
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