Polygon Configuration Space Mapping

Emily Behar and Jyh-Ming Lien

We have developed a new method for constructing the boundary of the C-space obstacles (C-obst) of polygons. These main advantages are provided by a new algorithm that allows us to extract the Minkowski sum from the reduced convolution of the input polygons. We have also developed a method for estimating the generalized penetration depth by computing the distance between the query point and the C-obst surface.

Mapping the Configuration Space of Polygons using Reduced Convolution, Behar, Emily and Lien, Jyh-Ming, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013
A New Method for Mapping the Configuration Space Obstacles of Polygons, Emily Behar, Jyh-Ming Lien, Department of Computer Science, George Mason University, (Technical Report), 2010
Web Site / Report (pdf) / BibTeX

The input polygons used in the experiment: (zip) (bzip2) (gz)

The Msum of the input polygons grate1 and grate2

The corresponding C-obst

Related Work
- Computing the Minkowski Sum of Polygons Using Reduced Convolution
- Other Minkowski sum work from MASC
Computer Science @ George Mason University