Hypothesizing Channels through Free-Space in Solving the Findpath Problem
Given a polyhedral environment, a technique is presented for hypothesizing a channel volume through the free space containing a class of successful collision-free paths. A set of geometric constructions between obstacle faces is proposed, and we define a mapping from a field of view analysis t...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/6393 |