Abstract
We propose data structures for answering a geodesic-distance query between two query points in a two-dimensional or three-dimensional dynamic environment, in which obstacles are deforming continuously. Each obstacle in the environment is modeled as the convex hull of a continuously deforming point cloud. The key to our approach is to avoid maintaining the convex hull of each point cloud explicitly but still able to retain sufficient geometric information to estimate geodesic distances in the free space.
| Original language | English (US) |
|---|---|
| Title of host publication | Algorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics |
| Pages | 351-365 |
| Number of pages | 15 |
| DOIs | |
| State | Published - Mar 29 2010 |
| Event | 8th International Workshop on the Algorithmic Foundations of Robotics, WAFR - Guanajuato, Mexico Duration: Dec 7 2008 → Dec 9 2008 |
Publication series
| Name | Springer Tracts in Advanced Robotics |
|---|---|
| Volume | 57 |
| ISSN (Print) | 1610-7438 |
| ISSN (Electronic) | 1610-742X |
Other
| Other | 8th International Workshop on the Algorithmic Foundations of Robotics, WAFR |
|---|---|
| Country | Mexico |
| City | Guanajuato |
| Period | 12/7/08 → 12/9/08 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Artificial Intelligence
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Cite this
Agarwal, P. K., Efrat, A., Sharathkumar, R., & Yu, H. (2010). On approximate geodesic-distance queries amid deforming point clouds. In Algorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics (pp. 351-365). (Springer Tracts in Advanced Robotics; Vol. 57). https://doi.org/10.1007/978-3-642-00312-7_22