How to Move a Chair Through a Door

Research output: Contribution to journalArticlepeer-review


The door width of a simple polygon (a chair) is defined and an O(n2) algorithm for computing its door width is given. It is first shown that all passages of the chair through the door can be reduced to a sequence of certain elementary motions. The technique of constraint analysis in characterizing elementary motions is introduced. Our algorithm actually constructs a motion of the chair through a door, and thus is a “local expert” for planning motion through doors. Such algorithms have applications in more general motion-planning systems in robotics.

Original languageEnglish (US)
Pages (from-to)172-181
Number of pages10
JournalIEEE Journal on Robotics and Automation
Issue number3
StatePublished - Jun 1987

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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