## Abstract

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 language | English (US) |
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Title of host publication | Proceedings of the Annual Symposium on Computational Geometry |

Publisher | ACM |

Pages | 251-259 |

Number of pages | 9 |

State | Published - 2000 |

Externally published | Yes |

Event | 16th Annual Symposium on Computational Geometry - Hong Kong, Hong Kong Duration: Jun 12 2000 → Jun 14 2000 |

### Other

Other | 16th Annual Symposium on Computational Geometry |
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City | Hong Kong, Hong Kong |

Period | 06/12/00 → 06/14/00 |

## ASJC Scopus subject areas

- Theoretical Computer Science
- Geometry and Topology
- Computational Mathematics