"26210" . . "The task of planning trajectories plays an important role in transportation, robotics, etc. In robot motion planning, the robot should find a collision-free path from the starting to the target position. Research on path planning has yielded many fundamentally different approaches to the solution of this problem that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. Assuming movements only in a restricted number of directions (eight directional or horizontal/vertical) the task, with respect to its combinatorial nature, can be solved by decomposition methods using heuristic techniques. We present drawbacks of these methods. Then, using the Voronoi diagrams, we need only polynomial time for finding a solution and, choosing a Euclidean or rectilinear metric, it can be adapted to tasks with general or directional-constrained movements."@en . . "The task of planning trajectories plays an important role in transportation, robotics, etc. In robot motion planning, the robot should find a collision-free path from the starting to the target position. Research on path planning has yielded many fundamentally different approaches to the solution of this problem that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. Assuming movements only in a restricted number of directions (eight directional or horizontal/vertical) the task, with respect to its combinatorial nature, can be solved by decomposition methods using heuristic techniques. We present drawbacks of these methods. Then, using the Voronoi diagrams, we need only polynomial time for finding a solution and, choosing a Euclidean or rectilinear metric, it can be adapted to tasks with general or directional-constrained movements." . . "Proceedings of the 3rd International Conference Optimization of the Robots and Manipulators OPTIROB 2008" . "978-973-648-784-2" . . . "2008-05-30+02:00"^^ . "6"^^ . . "Robot Motion Planning in the Plane with Polygonal Obstacles"@en . "[BA6041E8C995]" . "Predeal (Romania)" . "Predeal (Romania)" . . "Robot Motion Planning in the Plane with Polygonal Obstacles" . "393033" . . "motion planning, cell decomposition, sampling methods, roadmap method"@en . "1"^^ . "Bren Publishing House" . . "1"^^ . . . "Z(MSM0021630529)" . . "\u0160eda, Milo\u0161" . . "Robot Motion Planning in the Plane with Polygonal Obstacles" . "Robot Motion Planning in the Plane with Polygonal Obstacles"@en . . "RIV/00216305:26210/08:PU76869!RIV10-MSM-26210___" . . . . "RIV/00216305:26210/08:PU76869" .