Movement Problems for 2-Dimensional Linkages.

Abstract

This paper is motivated by questions concerning the planning of motion in robotics. In particulra, it is concerned with the motion of planar linkages from the complexity point of view. There are two main results. First, a planar linkage can be constrained to stay inside a bounded region whose boundary consists of straight lines by the addition of a polynomial number of new links. Second, the quetion of whether a planar linkage in some initial configurations can be moved so that a designated joint reaches a given point in the plane is PSPACE-hard. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1982
Accession Number
ADA121954

Entities

People

  • Deborah A. Joseph
  • John E. Hopcroft
  • Sue H. Whitesides

Organizations

  • Cornell University

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Automata
  • Automata Theory
  • Boundaries
  • Computational Complexity
  • Computer Science
  • Computers
  • Geometry
  • New York
  • Polygons
  • Polynomials
  • Robotics
  • Sequences
  • Simulations
  • Triangles
  • Two Dimensional
  • Universities

Fields of Study

  • Mathematics

Readers

  • Graph Algorithms and Convex Optimization.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy