Journal article
A counterexample to the Alexopoulos-Griffin path planning algorithm
IEEE transactions on systems, man and cybernetics. Part B, Cybernetics, v 27(4), pp 721-723
1997
PMID: 18255912
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
The planar stationary-obstacle path-planning problem for polygonal obstacles has been correctly and completely solved by T. Lozano-Perez and M. Wesley (1979), i.e., a global, optimal algorithm was provided which requires O(mu(2)logmu) computation time, where mu is the number of obstacle-faces in the scene. That algorithm is known as the VGRAPH algorithm. Two variants of VGRAPH have been developed to solve the same problem in O(mu(2)) computation time. Our paper discusses a recent algorithm proposed by C. Alexopoulos and P.M. Griffin (1992), called V*GRAPH, which also claims to provide an optimal solution. We demonstrate by counter-example that V*GRAPH is neither global nor optimal.
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Details
- Title
- A counterexample to the Alexopoulos-Griffin path planning algorithm
- Creators
- R A Conn - Drexel UniversityJ Elenes - Drexel UniversityM Kam - Drexel University
- Publication Details
- IEEE transactions on systems, man and cybernetics. Part B, Cybernetics, v 27(4), pp 721-723
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Resource Type
- Journal article
- Language
- English
- Web of Science ID
- WOS:A1997XL45000015
- Scopus ID
- 2-s2.0-0031212329
- Other Identifier
- 991019346717604721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Automation & Control Systems
- Computer Science, Artificial Intelligence
- Computer Science, Cybernetics