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:

    complex robot L-shape icon (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:

    complex robot icon (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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