Exact cellular decompositions in terms of critical points of Morse functions

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2000, Pages 2270-2277

  Choset, Howie ^a   Acar, Ercan ^a   Rizzi, Alfred A ^a   Luntz, Jonathan ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CRITICAL POINTS; EUCLIDIAN SPACE; EXACT CELLULAR DECOMPOSITION; MORSE FUNCTIONS;

ALGORITHMS; COLLISION AVOIDANCE; CONFORMAL MAPPING; MATRIX ALGEBRA; MOBILE ROBOTS; PARTIAL DIFFERENTIAL EQUATIONS; SENSORS; TOPOLOGY;

MOTION PLANNING;

EID: 0033692826     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (17)

1. Webster's Ninth New Collegiate Dictionary. Merriam-Webster, Inc., Springfield, MA, 1990.
2. D. Apostolopoulos, M. Wagner, and W. Whittaker. Technology and field demonstration results in the robotic search for antartic meteorites. In International Conference on Field and Service Robots, pages 185-190, August 1999.
3. Glen E. Bredon. Topology and Geometry. Springer-Verlag, New York, NY, 1993.
4. J.F. Canny. The Complexity of Robot Motion Planning. MIT Press, Cambridge, MA, 1988.
5. J.F. Canny. Constructing roadmaps of semi-algebraic sets i: Completeness. Artificial Intelligence, 37:203-222, 1988.
6. J.F. Canny and M.C. Lin. An Opportunistic Global Path Planner. Algorithmica, 10:102-120, 1993.
7. B. Chazelle. Convex partition of polyhedra: A lower bound and worst-case optimal algorithm. SIAM Journal on Computing, 13(3):488-507, 1984.
8. H. Choset. Nonsmooth analysis, convex analysis, and their applications to motion planning. Special Issue of the Int. Jour, of Comp. Geom. and Apps., 1998.
9. H. Choset and P. Pignon. Coverage path planning: The boustrophedon decomposition. In Proceedings of the International Conference on Field and Service Robotics, Canberra, Australia, December 1997.
10. F. H. Clarke. Optimization and Nonsm,ooth Analysis. Society of Industrial and Applied Mathematics, Philadelphia, PA, 1990.
11. R.A. Jarvis. Collision free trajectory planning using distance transforms. Mech Eng Trans of the IB Aust, ME10:197-191, 1985.
12. J.C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, Boston, MA, 1991.
13. J. Milnor. Morse Theory. Princeton University Press, Princeton, NJ, 1963.
14. F.P. Preparata and M. I. Shamos. Computational Geometry: An Introduction. Springer-Verlag, 1985. p198-257.
15. E. Rimon and J.F. Canny. Construction of C-space Roadmaps Using Local Sensory Data - What Should the Sensors Look For? In Proc. IEEE Int. Conf. on Robotics and Automation, pages 117-124, San Diego, CA, 1994.
16. W. Roque and H. Choset. Voronoi growth model applied to green island formation in forest fires. Submitted to International Journal of Computational Geometry and Applications, 1999.
17. M. V. Srinivasan. Ants Match as They March. Nature, 392:660-661, 1998.