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Quotient Space Based Problem Solving by Bo Zhang, Ling Zhang

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5.5. Applications

In this section, the theory and technique presented in the preceding sections will be applied to two motion planning problems. One is the planning for a planar rod moving among obstacles. The other is the planning for a multi-joint arm (Zhang and Zhang, 1982a, 1982b, 1988b, 1990a).
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Figure 5.28 r-Growing Boundaries
The main point for using the theory to a real motion planning problem is how to decompose the domain into homotopically equivalent classes. There are three kinds of boundaries which are used for the decomposition. Namely, the original boundaries of the obstacles, the r-growing boundaries of the obstacles, and some specific ...

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