{"paper":{"title":"Resolution-Exact Planner for Thick Non-Crossing 2-Link Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CG","authors_text":"Chee K. Yap, Ching-Hsiang Hsu, Zhongdi Luo","submitted_at":"2017-04-17T21:06:41Z","abstract_excerpt":"We consider the path planning problem for a 2-link robot amidst polygonal obstacles. Our robot is parametrizable by the lengths $\\ell_1, \\ell_2>0$ of its two links, the thickness $\\tau \\ge 0$ of the links, and an angle $\\kappa$ that constrains the angle between the 2 links to be strictly greater than $\\kappa$. The case $\\tau>0$ and $\\kappa \\ge 0$ corresponds to \"thick non-crossing\" robots. This results in a novel 4DOF configuration space ${\\mathbb R}^2\\times ({\\mathbb T}\\setminus\\Delta(\\kappa))$ where ${\\mathbb T}$ is the torus and $\\Delta(\\kappa)$ the diagonal band of width $\\kappa$. We desig"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1704.05123","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}