Efficient Opening Detection

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dc.contributor.author Levihn, Martin
dc.contributor.author Stilman, Mike
dc.date.accessioned 2011-09-19T17:41:56Z
dc.date.available 2011-09-19T17:41:56Z
dc.date.issued 2011
dc.identifier.uri http://hdl.handle.net/1853/40954
dc.description.abstract We present an efficient and powerful algorithm for detecting openings. Openings indicate the existence of a new path for the robot. The reliable detection of new openings is especially relevant to the domain of Navigation Among Movable Obstacles in known [7] as well as unknown [2] environments. Tremendous speed-ups for algorithms in these domains can be achieved by limiting the considerations of obstacle manipulations to cases where manipulations create new openings. The presented algorithm can detect openings for obstacles of arbitrary shapes being displaced in arbitrary directions in changing environments. To the knowledge of the authors, this is the first algorithm to achieve efficient opening detection for arbitrary shaped obstacles. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.relation.ispartofseries GT-GOLEM-2011-004 en_US
dc.title Efficient Opening Detection en_US
dc.type Technical Report en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines

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