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The Multiple Shooting Approach for the Convex Rope Problem
Báo cáo viên: Nguyễn Thị Lê

Thời gian: 9h00 đến 11h00 sáng thứ 4 ngày 31/3/2021

Địa điểm: Phòng 302 nhà A5, Viện Toán học

Tóm tắt báo cáo: The convex rope problem, posed by Peshkin and Sanderson in IEEE J. Robotics Automation, 2 (1986) pp. 53-58, is to find the counterclockwise and clockwise convex rope starting at the vertex a and ending at b of a simple polygon P, where a is contained in the set of extreme vertices of the convex hull of P and b is visible from infinity, and the convex rope mentioned is the shortest path joining a and b that does not enter the interior of P. In the paper, the convex rope is found approximately by the multiple shooting approach. The method consists of three factors: partition, collinear condition, and the update of shooting points. We show that our corresponding algorithm is globally convergent, i.e., the sequence of paths obtained by the algorithm converges to the optimal solution. The advantages of the algorithm are also shown

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