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dc.contributor.authorDonald, Bruce Randallen_US
dc.date.accessioned2007-04-23T17:23:39Z
dc.date.available2007-04-23T17:23:39Z
dc.date.issued1987-12en_US
dc.identifier.citationhttp://techreports.library.cornell.edu:8081/Dienst/UI/1.0/Display/cul.cs/TR87-889en_US
dc.identifier.urihttps://hdl.handle.net/1813/6729
dc.description.abstractWe consider the computational complexity of planning compliant motions in the plane, given geometric bounds on the uncertainty in sensing and control. We can give efficient algorithms for generating and verifying compliant motion strategies that are guaranteed to succeed as long as the sensing and control uncertainties lie within the specified bounds. We also consider the case where a compliant motion plan is required to succeed over some parametric family of geometries. While these problems are known to be intractable in 3D, we identify tractable subclasses in the plane.en_US
dc.format.extent2960428 bytes
dc.format.extent859062 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypeapplication/postscript
dc.language.isoen_USen_US
dc.publisherCornell Universityen_US
dc.subjectcomputer scienceen_US
dc.subjecttechnical reporten_US
dc.titleThe Complexity of Planar Compliant Motion Planning Under Uncertaintyen_US
dc.typetechnical reporten_US


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