A. Skumanich
SPIE OE/LASE 1992
The subject of this paper is the analysis of a randomized preprocessing scheme that has been used for query processing in robot path planning. The attractiveness of the scheme stems from its general applicability to virtually any path-planning problem, and its empirically observed success. In this paper we initiate a theoretical basis for explaining this empirical success. Under a simple assumption about the configuration space, we show that it is possible to perform preprocessing following which queries can be answered quickly. En route, we consider related problems on graph connectivity in the evasiveness model and art-gallery theorems. © 1998 Academic Press.
A. Skumanich
SPIE OE/LASE 1992
Daniel J. Costello Jr., Pierre R. Chevillat, et al.
ISIT 1997
R.A. Brualdi, A.J. Hoffman
Linear Algebra and Its Applications
Martin Charles Golumbic, Renu C. Laskar
Discrete Applied Mathematics