Date of Award


Document Type

Thesis (Undergraduate)

Department or Program

Department of Computer Science

First Advisor

Devin Balkcom


This paper proposes sampling techniques to approximate the configuration space for optimal motion planning. We sample valid configurations in the workspace and construct path subconvex cells in the free configuration space. The radius of each cell is calculated using lower bounds on the robot’s minimum time to collision. Using theorems about path convexity, the shortest paths found between any two points in the decomposed space are guaranteed to be safe. Experimental results are provided for a planar arm.


Originally posted in the Dartmouth College Computer Science Technical Report Series, number TR2015-776.