Robotics Research Technical Report: An Efficient Motion Planning Algorithm for a Convex Polygonal Object in 2-Dimensional Polygonal Space (Classic Reprint) - Hardcover

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Excerpt from Robotics Research Technical Report: An Efficient Motion Planning Algorithm for a Convex Polygonal Object in 2-Dimensional Polygonal Space

The second algorithm [sis] also reduces the problem to a combinatorial graph searching, but uses a different graph, called the vertex graph, whose nodes are the corners of ff, and whose edges connect pairs of comers that are adjacent along edges of ff, or along some additional auxiliary arcs in ff.

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