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Computational Geometry in C, Second Edition by Joseph O'Rourke

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8

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Motion Planning

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8.1.  INTRODUCTION

The burgeoning field of robotics has inspired the exploration of a collection of problems in computational geometry loosely called “motion planning” problems, or more specifically “algorithmic motion planning” problems. As usual, details are abstracted away from a real-life application to produce mathematically “cleaner” versions of the problem. If the abstraction is performed intelligently, the theoretical explorations have practical import. This happily has been the case with motion planning, which applies ...

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