Computing Swept Volumes for Sensor Planning Tasks
Steven Abrams
Peter K. Allen
Center for Research in Intelligent Systems
Computer Science Department
Columbia University
New York, NY 10027
Here is a postscript version of this paper. [111 Kb]
ABSTRACT
This paper discusses the computation of the volumes swept by
polyhedral objects moving through space and how these volumes can be
used for sensor planning in active environments. It presents some new
results in the computation of the approximate volumes swept by
polyhedral objects as they undergo arbitrary motions. An algorithm is
presented which approximates these volumes under a restricted class of
motion, along with a discussion of how it can be extended to handle
all types of motion. Results computed with this algorithm are also
presented. Finally, we discuss methods for guaranteeing that the
approximation is within some desired tolerance of the actual surface.