Complex Robot
Our complex robot demo works with any polygonal robot,
We can exploit the special case of star-shaped robots
when constructing the soft collision-detection predicate.
Such an example is seen in the following short demo
for our "snow-flake" robot:
(clickable image for video)
The "snow-flake" robot is an 18-gon, and it is
easily decomposed into 18 ``nice'' triangles
(niceness is a technical term)
in order to construct our predicate.
The next video treats a variety of complex robots,
not necessarily star-shaped:
(clickable image for video)
Note that our current implementation could also handle
robot shapes that are a union of discs and general polygons.
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