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Simple and Efficient Algorithms for Computing Smooth, Collision-free Feedback Laws Over Given Cell Decompositions
The International Journal of Robotics Research, 04/16/09

Lindemann SR et al. - The authors present an algorithm that computes these feedback controls for a kinematic point robot in an arbitrary dimensional space with piecewise linear boundary; the algorithm requires minimal preprocessing of the environment and is extremely fast during execution. For many practical applications in two-dimensional environments, full computation can be done in milliseconds. The authors also present an algorithm for computing feedback laws over cylindrical algebraic decompositions, thereby solving a smooth feedback version of the generalized piano movers' problem.

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