TY - JOUR
T1 - Moving a Chair through a Door
T2 - 2018 2nd International Conference on Artificial Intelligence Applications and Technologies, AIAAT 2018
AU - Toussaint, Godfried
N1 - Funding Information:
This research was supported by a grant from the Provost’s Office of New York University Abu Dhabi, in Abu Dhabi, the United Arab Emirates.
Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2018/11/5
Y1 - 2018/11/5
N2 - Spatial reasoning problems in robotics may be categorised into two types: global and local. A typical problem of the global kind involves determining if a robot can navigate along a specified terrain from one specified (starting) point to another (target) point by means of a suitable path, subject to a variety of constraints. A quintessential example of local spatial reasoning is the determination of whether an object can pass through a specified opening. This paper presents a tutorial on the local spatial reasoning problem of deciding whether a given rigid convex object can pass through a specified convex aperture, and if possible, planning a sequence of motions to accomplish the task, in a computationally efficient manner. The exposition of this material is at the freshman and sophomore undergraduate levels, and is well suited to motivate computer science students in discrete mathematics courses.
AB - Spatial reasoning problems in robotics may be categorised into two types: global and local. A typical problem of the global kind involves determining if a robot can navigate along a specified terrain from one specified (starting) point to another (target) point by means of a suitable path, subject to a variety of constraints. A quintessential example of local spatial reasoning is the determination of whether an object can pass through a specified opening. This paper presents a tutorial on the local spatial reasoning problem of deciding whether a given rigid convex object can pass through a specified convex aperture, and if possible, planning a sequence of motions to accomplish the task, in a computationally efficient manner. The exposition of this material is at the freshman and sophomore undergraduate levels, and is well suited to motivate computer science students in discrete mathematics courses.
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U2 - 10.1088/1757-899X/435/1/012043
DO - 10.1088/1757-899X/435/1/012043
M3 - Conference article
AN - SCOPUS:85057474911
SN - 1757-8981
VL - 435
JO - IOP Conference Series: Materials Science and Engineering
JF - IOP Conference Series: Materials Science and Engineering
IS - 1
M1 - 012043
Y2 - 8 August 2018 through 10 August 2018
ER -