Robotics Research Technical Report: On the General Motion Planning Problem With Two Degrees of Freedom (Classic Reprint) - Hardcover

Leonidas J. Guibas

9780265204528: Robotics Research Technical Report: On the General Motion Planning Problem With Two Degrees of Freedom (Classic Reprint)

Hardcover

ISBN 10: 0265204526 ISBN 13: 9780265204528

Publisher: Forgotten Books, 2018

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How to plan a robot’s moves when it has only two freedom degrees — discover practical ways to understand and compute collision-free paths in complex spaces.

This nonfiction work presents a focused study of motion planning for a two‑degree‑of‑freedom robot. It explains how the space of all placements is split into feasible and forbidden regions, and how a single connected component of the free space can be identified efficiently. The results combine topological insights with algorithmic techniques to bound complexity and improve performance in typical cases.

How to model the robot’s placement space and the free configuration space FP.
Ways to bound the complexity of a single connected component of FP and why this matters for speed.
Algorithms that compute a specific face containing a given placement, using line sweeping and related methods.
Concrete examples with simple robots to illustrate the approach and its limits.

Ideal for readers of robotics, computational geometry, and algorithm design who want a practical view of motion planning with two degrees of freedom.

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