An O ( n 2log n ) Time Algorithm for Computing Shortest Paths Amidst Growing Discs in the Plane
نویسندگان
چکیده
In this paper an algorithm is presented to find a shortest path between two points in the plane amidst growing discs. That is, as the “point” moves through the plane, the discs grow at an a priori known rate. We present an O(n logn) algorithm and a fast implementation. The problem is motivated from robotics, where motion planning in dynamic environments is a great challenge. Our algorithm can be used to generate paths in such environments guaranteeing that they will be collision-free in the future.
منابع مشابه
Computing Shortest Paths amidst Growing Discs in the Plane
In this paper an algorithm is presented to find a shortest path between two points in the plane amidst growing discs. That is, as the “point” moves through the plane, the discs grow at an a priori known rate. We present an O(n logn) algorithm and a fast implementation. The problem is motivated from robotics, where motion planning in dynamic environments is a great challenge. Our algorithm can b...
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