CPSC 643-600: Motion Planning
(aka Robotics Programming)
Fall 1996

Mini Homework #1

Due: Thursday October 17 in class.

Consider the figure on the top of page 32 of the lecture notes on Exact Cell Decomposition methods. In the figure it is not clear where the edges E and E3 end. You may assume that E intersects E2 (creating a new vertex not shown in the figure). You may also assume E1 and E3 are parallel and extend infinitely to the left. Thus, you will need to consider TWO vertices (the one shown and the new one where E and E2 meet) and FOUR edges (E, E1, E2, and E3).

You are supposed to:

• draw and label all critical curves
• identify all redundant critical curve segments
• identify all cells and their adjacencies
• draw the connectivity graph