Nonholonomic path planning for pushing a disk among obstacles
Pankaj K. Agarwal, J.-C. Latombe, R. Motwani, Prabhakar Raghavan · 2002
We consider the path-planning problem for a robot pushing an object in an environment containing obstacles. This new variant of the classical robot path-planning problem has several interesting geometric aspects, which we explore. We focus on the setting where the robot makes a point contact with the object which is assumed to be a unit disk, while the obstacles are assumed to be polygonal.