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cellDecomposition

# cellDecomposition - MEM380 Fundamental Robotics I...

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MEM380: Fundamental Robotics I Assignment 7 Due: Tuesday, 11/17/09, 11:59pm EST 1 Objective The objective of this assignment is to perform a 1) trapezoidal decomposition, 2) a Morse decompo- sition, and 3) (optional) sensor based coverage and mapping of an environment. You are provided the following Matlab files: polyWorkspace.dat : This is a text file containing the vertices of the polygonal workspace boundary and obstacles in the workspace. Use vert = load(’polyWorkspace.dat’); to load the vertices 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. contWorkspace.dat : This is a text file containing the coordinates of the continuous workspace and obstacle boundaries in the workspace. Use coord = load(’contWorkspace.dat’); to load the vertices into Matlab . The variable coord 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.

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