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A subdivision algorithm in configuration space for findpath with rotation
Open accessAbstract
A recursive cellular representation for configuration space is presented along with an algorithm for searching that space for collision-free paths. The details of the algorithm are presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom.
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Citations
Cited by
Spatial Planning: A Configuration Space Approach
Lozano-Perez (1983) · IEEE Transactions on Computers · doi:10.1109/tc.1983.1676196 · Cited by 2,113
A fast procedure for computing the distance between complex objects in three-dimensional space
Gilbert, E. G., Johnson, D. W., & Keerthi, S. S. (1988) · IEEE Journal on Robotics and Automation · doi:10.1109/56.2083 · Cited by 1,513
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
Numerical potential field techniques for robot path planning
Barraquand, J., Langlois, B., & Latombe, J.-C. (1992) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/21.148426 · Cited by 889
Sampling-Based Robot Motion Planning: A Review
Elbanhawi, M., & Simic, M. (2014) · IEEE Access · doi:10.1109/access.2014.2302442 · Cited by 786
Metadata
- Authors
- Brooks, R. A., & Lozano-Perez, T.
- Venue
- IEEE Transactions on Systems, Man, and Cybernetics
- Published
- 1985-03
- Volume
- SMC-15
- Issue
- 2
- Pages
- 224-233
- ISSN
- 0018-9472 (ISSN-L)
- 2168-2909
- OpenAlex
- W2077091230
- Cited by
- 550
- References
- 0
- FWCI
- 30.06
- Type
- journal article
- Language
- en
- Open access
- green
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- CoChat. (2026). Citation check: A subdivision algorithm in configuration space for findpath with rotation. https://app.cochat.ai/papers/10.1109/tsmc.1985.6313352
- The paper
- Brooks, R. A., & Lozano-Perez, T. (1985). A subdivision algorithm in configuration space for findpath with rotation. IEEE Transactions on Systems, Man, and Cybernetics. https://doi.org/10.1109/tsmc.1985.6313352
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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.
