@inproceedings{1bd68637736d4eca8b38766c2afa58b5,
title = "Path planning for simple robots using soft subdivision search",
abstract = "The concept of ε-exact path planning is a theoretically sound alternative to the standard exact algorithms, and provides much stronger guarantees than probabilistic or sampling algorithms. It opens the way for the introduction of soft predicates in the context of subdivision algorithm. Taking a leaf from the great success of the Probabilistic Road Map (PRM) framework, we formulate an analogous framework for subdivision, called Soft Subdivision Search (SSS). In this video, we illustrate the SSS framework for a trio of simple planar robots: disc, triangle and 2-links. These robots have, respectively, 2, 3 and 4 degrees of freedom. Our 2-link robot can also avoid self-crossing. These algorithms operate in realtime and are relatively easy to implement.",
keywords = "Configuration space, Path planning, Resolution exactness, Soft predicates, Subdivision search",
author = "Hsu, {Ching Hsiang} and Ryan, {John Paul} and Chee Yap",
note = "Publisher Copyright: {\textcopyright} Ching-Hsiang Hsu, John Paul Ryan, and Chee Yap.; 32nd International Symposium on Computational Geometry, SoCG 2016 ; Conference date: 14-06-2016 Through 17-06-2016",
year = "2016",
month = jun,
day = "1",
doi = "10.4230/LIPIcs.SoCG.2016.68",
language = "English (US)",
series = "Leibniz International Proceedings in Informatics, LIPIcs",
publisher = "Schloss Dagstuhl- Leibniz-Zentrum fur Informatik GmbH, Dagstuhl Publishing",
pages = "68.1--68.5",
editor = "Sandor Fekete and Anna Lubiw",
booktitle = "32nd International Symposium on Computational Geometry, SoCG 2016",
}