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dc.contributor.authorVaca Alzate, Rubén Hernando
dc.contributor.authorAranda López, Juan
dc.contributor.authorThomas, Federico
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherInstitut de Bioenginyeria de Catalunya
dc.identifier.citationVaca, R.; Aranda, J.; Thomas, F. Simplified Voronoi diagrams for motion planning of quadratically-solvable Gough-Stewart platforms. A: International Symposium on Advances in Robot Kinematics. "Latest advances in robot kinematics". Innsbruck: Springer, 2012, p. 157-164.
dc.description.abstractThe obstacles in Configuration Space of quadratically-solvable Gough-Stewart platforms, due to both kinematic singularities and collisions, can be uniformly represented by a Boolean combination of signs of 4×4 determinants involving the homogeneous coordinates of sets of four points. This Boolean combination induces a measure of distance to obstacles in Configuration Space from which a simplified Voronoi diagram can be derived. Contrary to what happens with standard Voronoi diagrams, this diagram is no longer a strong deformation retract of free space but, as Canny proved in 1987, it is still complete for motion planning. Its main advantage is that it has lower algebraic complexity than standard Voronoi diagrams based on the Euclidean metric.
dc.format.extent8 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshVoronoi polygons
dc.subject.otherGough-Stewart platform
dc.subject.otherPure condition
dc.subject.otherVoronoi diagrams
dc.subject.otherPath planning
dc.titleSimplified Voronoi diagrams for motion planning of quadratically-solvable Gough-Stewart platforms
dc.typeConference report
dc.subject.lemacVoronoi, Polígons de
dc.contributor.groupUniversitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.rights.accessOpen Access
dc.description.versionPostprint (author’s final draft)
local.citation.authorVaca, R.; Aranda, J.; Thomas, F.
local.citation.contributorInternational Symposium on Advances in Robot Kinematics
local.citation.publicationNameLatest advances in robot kinematics

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