roadMaps - MEM380: Fundamental Robotics I Assignment 6 Due:...

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MEM380: Fundamental Robotics I Assignment 6 Due: Tuesday, 11/10/09, 11:59pm EST 1 Objective The objective of this assignment is to construct a visibility roadmap using 1) the brute force method and 2) the sweepline algorithm. You are provided the following Matlab files: workspace.dat : This is a text file containing the vertices of the polygonal workspace bound- ary and obstacles in the workspace. Use vert = load(’workspace.dat’); to load the ver- tices into Matlab . The variable vert is a N × 3 vertices where the first column denotes the obstacle ID and the second and third column denotes the vertex ( x,y ) coordinates. The 0 th obstacle denotes the workspace boundary. plotWorkspace.m : Usage plotWorkspace(vert) where vert is a N × 3 array of vertices of all the obstacles within the workspace. This function plots the workspace. Requirements: You MUST use Matlab to complete this assignment. 2
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roadMaps - MEM380: Fundamental Robotics I Assignment 6 Due:...

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