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Publications [#331370] of Bruce R. Donald

Papers Published

  1. Donald, BR, The complexity of planar compliant motion planning Under Uncertainty, Proceedings of the 4th Annual Symposium on Computational Geometry, SCG 1988 (January, 1988), pp. 309-318, ISBN 0897912705 [doi]
    (last updated on 2018/01/26)

    Abstract:
    © 1988 ACM. We consider the computational complexity of planning compliant motions in the plane, given geometric bounds on the uncertainty in sensing and control. We can give efficient algorithms for generating and verifying compliant motion strategies that are guaranteed to succeed as long as the sensing and control uncertainties lie within the specified bounds. We also consider the case where a compliant motion plan is required to succeed over some parametric family of geometries. While these problems are known to be intractable in 3D, we identify tractable subclasses in the plane.

 

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