Reachability by paths of bounded curvature in convex polygons

Hee kap Ahn*, Otfried Cheong, Jiri Matousek, Antoine Vigneron

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

9 Scopus citations


A point robot in the plane whose turning radius is constrained to be at least 1 and that is not allowed to make reversals is analyzed. Result is a characterization of the region of points reachable by paths under curvature constraints from a given starting configuration inside a convex polygon. It is shown that all points reachable from the starting configuration is also reachable by paths of a fairly special form. Reachable region is also shown to have complexity linear in the complexity of the polygon. The characterization is constructive and could be used to compute the reachability region.

Original languageEnglish (US)
Number of pages9
StatePublished - 2000
Externally publishedYes
Event16th Annual Symposium on Computational Geometry - Hong Kong, Hong Kong
Duration: Jun 12 2000Jun 14 2000


Conference16th Annual Symposium on Computational Geometry
CityHong Kong, Hong Kong

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Geometry and Topology
  • Computational Mathematics


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