The DOI matches its Crossref record; 23 of the 23 references it cites were found in a registry or an index.
Spatial Planning: A Configuration Space Approach
Abstract
This paper presents algorithms for computing constraints on the position of an object due to the presence of ther objects. This problem arises in applications that require choosing how to arrange or how to move objects without collisions. The approach presented here is based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object. The configurations forbidden to this object, due to the presence of other objects, can then be characterized as regions in the configuration space, called configuration space obstacles. The paper presents algorithms for computing these configuration space obstacles when the objects are polygons or polyhedra.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
Understanding natural language
Winograd, T. (1972) · Cognitive Psychology · doi:10.1016/0010-0285(72)90002-3 · Cited by 2,799
An algorithm for planning collision-free paths among polyhedral obstacles
Lozano-Pérez, T., & Wesley, M. A. (1979) · Communications of the ACM · doi:10.1145/359156.359164 · Cited by 2,304
An efficient algorith for determining the convex hull of a finite planar set
Graham, R. L. (1972) · Information Processing Letters · doi:10.1016/0020-0190(72)90045-2 · Cited by 1,653
Shamos, M. I., & Hoey, D. (1975) · 16th Annual Symposium on Foundations of Computer Science (sfcs 1975) · doi:10.1109/sfcs.1975.8 · Cited by 1,057
Algorithms for Reporting and Counting Geometric Intersections
Bentley, & Ottmann (1979) · IEEE Transactions on Computers · doi:10.1109/tc.1979.1675432 · Cited by 996
Schwartz, J. T., & Sharir, M. (1983) · Advances in Applied Mathematics · doi:10.1016/0196-8858(83)90014-3 · Cited by 801
Convex hulls of finite sets of points in two and three dimensions
Preparata, F. P., & Hong, S. J. (1977) · Communications of the ACM · doi:10.1145/359423.359430 · Cited by 710
THE KINEMATICS OF MANIPULATORS UNDER COMPUTER CONTROL
Peiper, D. L. (1968) · Cited by 708
Automatic Planning of Manipulator Transfer Movements
Lozano-Perez, T. (1981) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/tsmc.1981.4308589 · Cited by 692
Bottema, D., Roth, B., & Veldkamp, G. R. (1980) · Journal of Applied Mechanics · doi:10.1115/1.3153630 · Cited by 652
Cited by
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Kavraki, L. E., Svestka, P., Latombe, J.-C., & Overmars, M. H. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.508439 · Cited by 6,343
Randomized Kinodynamic Planning
LaValle, S. M., & Kuffner, J. J. (2001) · The International Journal of Robotics Research · doi:10.1177/02783640122067453 · Cited by 3,254
Robot Motion Planning: A Distributed Representation Approach
Barraquand, J., & Latombe, J.-C. (1991) · The International Journal of Robotics Research · doi:10.1177/027836499101000604 · Cited by 995
Optimal and efficient path planning for partially-known environments
Stentz, A. (2002) · Proceedings of the 1994 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1994.351061 · Cited by 929
A review of mobile robots: Concepts, methods, theoretical framework, and applications
Rubio, F., Valero, F., & Llopis-Albert, C. (2019) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881419839596 · Cited by 763
Metadata
- Authors
- Lozano-Perez
- Venue
- IEEE Transactions on Computers
- Published
- 1983-02
- Volume
- C-32
- Issue
- 2
- Pages
- 108-120
- ISSN
- 0018-9340 (ISSN-L)
- 1557-9956
- 2326-3814
- OpenAlex
- W2150500908
- Cited by
- 2,113
- References
- 23
- FWCI
- 50.15
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Spatial Planning: A Configuration Space Approach. https://app.cochat.ai/papers/10.1109/tc.1983.1676196
- The paper
- Lozano-Perez. (1983). Spatial Planning: A Configuration Space Approach. IEEE Transactions on Computers. https://doi.org/10.1109/tc.1983.1676196
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
