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dc.contributor.authorLevihn, Martin
dc.contributor.authorStilman, Mike
dc.date.accessioned2011-09-19T17:41:56Z
dc.date.available2011-09-19T17:41:56Z
dc.date.issued2011
dc.identifier.urihttp://hdl.handle.net/1853/40954
dc.description.abstractWe 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.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.relation.ispartofseriesGT-GOLEM-2011-004en_US
dc.titleEfficient Opening Detectionen_US
dc.typeTechnical Reporten_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines


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