James Lee Hafner
Journal of Number Theory
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.
James Lee Hafner
Journal of Number Theory
W.C. Tang, H. Rosen, et al.
SPIE Optics, Electro-Optics, and Laser Applications in Science and Engineering 1991
Ruixiong Tian, Zhe Xiang, et al.
Qinghua Daxue Xuebao/Journal of Tsinghua University
Charles Micchelli
Journal of Approximation Theory