Convex hull asymptotic shape evolution

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The asymptotic properties of Rapidly exploring Random Tree (RRT) growth in large spaces is studied both in simulation and analysis. The main phenomenon is that the convex hull of the RRT reliably evolves into an equilateral triangle when grown in a symmetric planar region (a disk). To characterize this and related phenomena from flocking and swarming, a family of dynamical systems based on incremental evolution in the space of shapes is introduced. Basins of attraction over the shape space explain why the number of hull vertices tends to reduce and the shape stabilizes to a regular polygon with no more than four vertices.

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
EditorsEmilio Frazzoli, Nicholas Roy, Tomas Lozano-Perez, Daniela Rus
PublisherSpringer-Verlag Berlin Heidelberg
Pages349-364
Number of pages16
ISBN (Print)9783642362781
DOIs
StatePublished - Jan 1 2013
Event10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012 - Cambridge, United States
Duration: Jun 13 2012Jun 15 2012

Publication series

NameSpringer Tracts in Advanced Robotics
Volume86
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012
CountryUnited States
CityCambridge
Period6/13/126/15/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • Cite this

    Arnold, M., Baryshnikov, Y., & Lavalle, S. M. (2013). Convex hull asymptotic shape evolution. In E. Frazzoli, N. Roy, T. Lozano-Perez, & D. Rus (Eds.), Springer Tracts in Advanced Robotics (pp. 349-364). (Springer Tracts in Advanced Robotics; Vol. 86). Springer-Verlag Berlin Heidelberg. https://doi.org/10.1007/978-3-642-36279-8_21