Math @ Duke

Publications [#235522] of Pankaj K. Agarwal
Papers Published
 Agarwal, PK; Efrat, A; Sharathkumar, R; Yu, H, On approximate geodesicdistance queries amid deforming point clouds,
Springer Tracts in Advanced Robotics, vol. 57
(2010),
pp. 351365, ISSN 16107438 [doi]
(last updated on 2017/12/15)
Abstract: We propose data structures for answering a geodesicdistance query between two query points in a twodimensional or threedimensional dynamic environment, in which obstacles are deforming continuously. Each obstacle in the environment is modeled as the convex hull of a continuously deforming point cloud. The key to our approach is to avoid maintaining the convex hull of each point cloud explicitly but still able to retain sufficient geometric information to estimate geodesic distances in the free space. © 2009 SpringerVerlag.


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