This animation illustrates the algorithmic solution to this
problem, as described in my paper
A Combinatorial Approach to Planar Non-Colliding Robot Arm
Motion Planning
, see FOCS 2000 extended
abstract
.
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The first pseudo-triangulation-based mechanism of this motion
(Cinderella animation) can be seen
here. Such a mechanism has
the property that as long as its acyclicity property of
is preserved, it moves in such a way that the interdistances between any pair
of vertices either all increase or all decrease (or stay the
same). More animations to come soon.
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