We propose a novel enhancement to the task of collision-testing a set of local paths. Our approach circumvents expensive collision-tests, yet it declares a continuum of paths collision-free by exploiting both the structure of paths and the outcome of previous tests. We define a homotopy-like equivalence relation among local paths and provide algorithms to (1) classify paths based on equivalence, and (2) implicitly collision-test up to 90% of them. We then prove both correctness and completeness of these algorithms before providing experimental results showing a performance increase up to 300%. © 2010 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Knepper, R. A., Srinivasa, S. S., & Mason, M. T. (2010). An equivalence relation for local path sets. In Springer Tracts in Advanced Robotics (Vol. 68, pp. 19–35). https://doi.org/10.1007/978-3-642-17452-0_2
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