Nonholonomic path planning for pushing a disk among obstacles


Journal Article

We consider the path-planning problem for a robot pushing an object in an environment containing obstacles. This new variant of the classical robot path-planning problem has several interesting geometric aspects, which we explore. We focus on the setting where the robot makes a point contact with the object which is assumed to be a unit disk, while the obstacles are assumed to be polygonal.

Duke Authors

Cited Authors

  • Agarwal, PK; Latombe, JC; Motwani, R; Raghavan, P

Published Date

  • January 1, 1997

Published In

Volume / Issue

  • 4 /

Start / End Page

  • 3124 - 3129

International Standard Serial Number (ISSN)

  • 1050-4729

Citation Source

  • Scopus