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Rapidly exploring Random Trees (RRT), a sampling based algorithm, efficiently computes a path between a start and a goal configuration. RRT-Connect, is a variant of RRT that works by incrementally building two RRTs rooted at the start and the goal configurations. Significant amount of research has been done on the motion planning of six-legged robots. We improve upon a certain technique which employs...
Achieving real time collision detection in high vertex count geometrical models like those of buildings, while maintaining an adequate frame rate, is a challenging problem. Time complexity of collision detection algorithms in such scenarios is an important factor and algorithms that provide constant time collision query processing are required. This paper presents a constant time collision detection...
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