I
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l J
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urna
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Ro
bo
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nd
Aut
o
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a
t
io
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(
I
J
RA
)
Vo
l.
5
,
No
.
3
,
Sep
tem
b
er
201
6
,
p
p
.
1
51
~
160
I
SS
N:
2089
-
4856
151
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In
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
3
,
Sep
tem
b
er
201
6
:
1
51
–
1
6
0
152
i)
Dete
ctio
n
o
f th
e
e
n
viro
n
me
n
t th
r
o
u
g
h
ca
mera
a
n
d
id
en
tifi
ca
tio
n
o
f th
e
o
b
jects in
th
e
e
n
v
ir
o
n
men
t
.
First,
an
i
m
a
g
e
o
b
tain
ed
th
r
o
u
g
h
ca
m
er
a
w
ill b
e
s
e
g
m
e
n
ted
t
o
g
et
in
f
o
r
m
atio
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ab
o
u
t th
e
b
o
u
n
d
ar
ies,
t
h
e
o
b
s
tacle
s
an
d
r
o
b
o
t c
o
n
tain
ed
in
th
e
e
n
v
ir
o
n
m
en
t.
ii)
Dete
ctio
n
o
f c
o
r
n
ers
o
f th
e
o
b
s
ta
cles in
th
e
en
viro
n
men
t
.
T
h
e
n
ex
t step
is
to
d
etec
t th
e
t
r
u
e
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r
n
er
s
o
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th
e
o
b
s
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th
e
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m
ag
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ill b
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ed
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w
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tar
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a
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p
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ild
a
r
o
ad
m
ap
o
f
th
e
e
n
v
ir
o
n
m
en
t.
Fig
u
r
e
1
.
(
a)
A
n
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-
p
u
c
k
r
o
b
o
t
(
b
)
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n
v
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in
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iii)
Ob
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al
l th
e
p
at
h
s
p
r
o
v
id
ed
b
y
v
is
ib
ilit
y
g
r
ap
h
.
v
)
P
r
o
g
r
a
mmin
g
th
e
r
o
b
o
t t
o
fo
llo
w
th
e
o
p
tima
l p
a
th
fr
o
m
s
ta
r
t p
o
s
itio
n
to
g
o
a
l p
o
s
itio
n
.
Ma
th
W
o
r
k
s
M
A
T
L
A
B
is
u
s
ed
as p
r
o
g
r
am
m
i
n
g
lan
g
u
ag
e
f
o
r
i
m
p
le
m
e
n
ti
n
g
all
t
h
ese
tas
k
s
.
2
.
M
E
T
H
O
DO
L
O
G
Y
T
h
is
s
ec
tio
n
w
il
l d
escr
ib
e
th
e
m
et
h
o
d
o
lo
g
ies ad
ap
ted
f
o
r
p
er
f
o
r
m
i
n
g
ea
c
h
o
f
t
h
e
tas
k
s
d
is
c
u
s
s
ed
in
p
r
ev
io
u
s
s
ec
t
io
n
.
2
.
1
.
I
m
a
g
e
Seg
m
e
nta
t
io
n
I
n
t
h
e
fi
eld
o
f
r
o
b
o
tics
,
t
h
e
c
h
allen
g
e
i
s
to
d
o
r
eliab
le
s
eg
m
e
n
tatio
n
o
f
th
e
s
ce
n
es
i
n
o
r
d
er
to
p
lan
t
h
e
r
o
b
o
t
m
o
v
e
m
e
n
t
to
p
er
f
o
r
m
a
s
p
ec
i
fi
c
ta
s
k
.
W
h
e
n
t
h
e
ta
s
k
i
s
to
id
e
n
ti
f
y
f
e
w
o
b
j
ec
ts
b
ased
o
n
t
h
eir
co
lo
r
p
r
o
p
er
ties
,
th
r
esh
o
ld
tech
n
iq
u
es
h
a
v
e
b
ee
n
u
s
ed
b
y
r
esear
ch
er
s
[
1
]
,
[
2
]
.
I
n
cu
r
r
en
t
ca
s
e,
as
o
b
j
ec
ts
ca
n
b
e
id
en
ti
fi
ed
t
h
r
o
u
g
h
th
e
ir
co
lo
r
,
a
th
r
e
s
h
o
ld
i
n
g
tech
n
iq
u
e
h
a
s
b
ee
n
u
s
ed
.
No
w
,
t
h
e
i
m
a
g
e
o
b
tain
ed
f
r
o
m
th
e
ca
m
er
a
i
s
a
n
R
GB
i
m
ag
e
(
s
ee
Fi
g
u
r
e
2
a)
.
I
t
is
first
co
n
v
er
ted
f
r
o
m
R
GB
s
p
ac
e
to
H
SV
s
p
ac
e.
T
o
s
elec
t
t
h
e
th
r
es
h
o
ld
v
al
u
es
f
o
r
t
h
e
t
h
r
ee
co
lo
r
s
(
lig
h
t
g
r
ee
n
,
d
ar
k
g
r
e
en
an
d
m
a
g
en
ta)
,
an
y
h
o
m
o
g
en
eo
u
s
p
ar
t
o
f
t
h
e
i
m
a
g
e
th
at
o
n
l
y
co
n
tai
n
s
t
h
e
r
eq
u
ir
ed
co
lo
r
is
s
elec
ted
an
d
th
e
m
ax
i
m
u
m
an
d
m
i
n
i
m
u
m
v
alu
es
o
f
t
h
e
h
u
e,
in
te
n
s
it
y
a
n
d
s
at
u
r
atio
n
ar
e
o
b
tain
ed
f
r
o
m
t
h
i
s
r
eg
io
n
.
T
h
ese
v
al
u
es
s
er
v
e
a
s
t
h
e
t
h
r
esh
o
ld
v
a
lu
e
s
.
Af
ter
s
elec
ti
n
g
t
h
e
th
r
es
h
o
ld
v
al
u
es,
all
th
e
i
m
a
g
e
p
ix
el
s
ar
e
ch
ec
k
ed
an
d
if
HSV
v
al
u
es
o
f
a
p
ix
el
f
a
ll
w
it
h
in
t
h
e
th
r
es
h
o
ld
v
alu
e
s
o
f
an
y
o
f
th
e
th
r
ee
co
lo
r
class
es,
th
at
p
ix
el
is
ass
i
g
n
ed
a
s
p
ec
i
fi
c
v
al
u
e
an
d
th
u
s
p
ix
e
l
is
r
ep
r
esen
ted
b
y
a
u
n
iq
u
e
co
lo
r
in
t
h
e
o
u
tp
u
t
i
m
a
g
e.
Fo
r
ex
a
m
p
le,
all
th
e
p
ix
el
s
th
a
t
b
elo
n
g
t
o
class
li
g
h
t
g
r
ee
n
w
il
l
b
e
s
h
o
w
n
i
n
b
r
o
w
n
co
lo
r
in
th
e
s
e
g
m
en
ted
i
m
ag
e.
S
i
m
ilar
l
y
th
e
p
ix
e
ls
t
h
at
b
elo
n
g
to
class
d
ar
k
g
r
ee
n
w
il
l
b
e
s
h
o
w
n
i
n
y
ello
w
co
lo
r
an
d
t
h
e
p
ix
e
ls
b
elo
n
g
i
n
g
to
class
m
ag
e
n
ta
w
ill
b
e
s
h
o
w
n
in
teal
co
lo
r
.
T
h
e
p
ix
els
th
at
b
elo
n
g
to
n
o
n
e
o
f
th
e
s
e
clas
s
es
ar
e
a
s
s
ig
n
ed
t
h
e
b
lu
e
co
lo
r
(
s
ee
Fig
u
r
e
2
b
)
.
On
l
y
t
h
e
h
u
e
a
n
d
s
atu
r
atio
n
v
al
u
e
ar
e
tak
en
i
n
t
o
ac
co
u
n
t
f
o
r
class
i
f
y
in
g
th
e
p
ix
els,
as
it
is
ex
p
ec
ted
th
at
s
eg
m
en
tat
io
n
m
a
y
b
ec
o
m
e
m
o
r
e
r
o
b
u
s
t to
li
g
h
ti
n
g
v
ar
iatio
n
s
i
f
p
ix
el
l
u
m
i
n
an
ce
(
in
ten
s
it
y
v
al
u
e)
is
d
is
ca
r
d
ed
.
2
.
2
.
I
dentifi
ca
t
i
o
n o
f
t
he
B
o
u
nd
a
ry
P
o
ints a
nd
t
he
Sta
rt
L
o
ca
t
io
n
I
n
Fig
u
r
e
2
b
,
th
er
e
ar
e
r
e
d
p
o
in
ts
i
n
th
e
co
r
n
er
s
a
n
d
o
n
th
e
r
o
b
o
t.
T
h
e
r
e
d
p
o
in
ts
in
co
r
n
er
s
ar
e
u
s
ed
to
k
n
o
w
t
h
e
b
o
u
n
d
ar
y
o
f
e
n
v
i
r
o
n
m
e
n
t.
T
h
ese
ar
e
o
b
tain
ed
b
y
ca
lc
u
lati
n
g
t
h
e
i
n
d
i
v
id
u
al
ce
n
tr
o
id
s
o
f
t
h
e
f
o
u
r
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IJ
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eg
io
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h
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r
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h
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o
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n
d
th
e
ce
n
t
r
o
id
p
o
in
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in
a
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5
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i
n
d
o
w
ar
e
al
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o
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i
g
n
ed
t
h
e
r
ed
co
l
o
r
in
o
r
d
er
t
o
m
a
k
e
th
e
p
o
in
t p
r
o
m
i
n
e
n
t.
Fig
u
r
e
2
.
(
a)
Or
ig
in
al
I
m
a
g
e
a
n
d
(
b
)
Seg
m
e
n
ted
o
u
tp
u
t o
f
th
e
i
m
ag
e
2
.
3
.
P
o
s
t
P
ro
ce
s
s
ing
o
f
t
he
s
e
g
m
ent
e
d I
m
a
g
e
I
n
t
h
e
s
e
g
m
e
n
ted
o
u
tp
u
t
o
f
t
h
e
i
m
a
g
e,
t
h
e
ed
g
es
o
f
t
h
e
o
b
s
tacle
s
ar
e
n
o
t
s
m
o
o
th
.
I
t
i
s
b
e
ca
u
s
e
th
e
ed
g
es
o
f
th
e
o
b
s
tacle
s
(
in
o
r
ig
in
a
l
i
m
a
g
e)
ar
e
n
o
t
s
h
ar
p
.
T
h
e
p
o
s
s
ib
le
r
ea
s
o
n
s
m
a
y
b
e
b
ec
au
s
e
t
h
e
ca
m
er
a
u
s
ed
d
id
n
o
t
h
av
e
a
h
ig
h
p
ict
u
r
e
q
u
alit
y
a
n
d
also
b
ec
au
s
e
t
h
e
ill
u
m
i
n
atio
n
m
a
y
n
o
t
b
e
u
n
i
f
o
r
m
at
t
i
m
e
w
h
e
n
co
r
n
er
s
o
f
th
e
o
b
s
tacle
s
w
h
ic
h
w
ill
s
er
v
e
as
n
o
d
es
i
n
th
e
v
is
ib
il
it
y
g
r
ap
h
.
First
th
e
i
m
a
g
e
is
co
n
v
er
ted
to
b
in
ar
y
i
m
ag
e
a
n
d
o
n
l
y
o
b
s
tac
l
es
ar
e
k
ep
t
in
i
m
a
g
e.
T
h
en
th
e
fi
r
s
t
s
tep
is
to
fi
ll
t
h
e
h
o
les
in
th
e
i
m
a
g
e
as
t
h
er
e
m
i
g
h
t
b
e
s
o
m
e
m
i
s
s
i
n
g
p
ix
el
s
in
s
id
e
th
e
s
e
g
m
e
n
ted
r
eg
io
n
s
t
h
u
s
cr
ea
tin
g
h
o
le
s
.
Af
ter
fi
ll
in
g
h
o
le
s
,
t
w
o
m
o
r
p
h
o
lo
g
ical
o
p
er
atio
n
s
o
p
en
in
g
a
n
d
clo
s
in
g
ar
e
p
er
f
o
r
m
e
d
o
n
th
e
i
m
ag
e
to
s
m
o
o
th
t
h
e
b
o
u
n
d
ar
ies.
Fig
u
r
e
3
a
s
h
o
w
s
th
e
p
o
s
t
p
r
o
ce
s
s
ed
im
ag
e
s
e
g
m
e
n
ted
r
eg
io
n
w
it
h
teal
co
lo
r
.
T
h
e
p
ix
els
ar
o
u
n
d
th
e
ce
n
tr
o
id
p
o
in
t
in
a
5
x
5
w
in
d
o
w
ar
e
also
a
s
s
i
g
n
ed
th
e
r
ed
co
lo
r
in
o
r
d
er
to
m
ak
e
t
h
e
p
o
in
t
p
r
o
m
i
n
e
n
t.i
m
a
g
e
is
ca
p
tu
r
ed
.
T
h
u
s
,
p
o
s
t
p
r
o
ce
s
s
in
g
o
f
t
h
e
i
m
a
g
e
i
s
p
er
f
o
r
m
ed
to
s
m
o
o
t
h
t
h
e
ed
g
es.
T
h
e
s
m
o
o
t
h
ed
g
e
s
ar
e
r
e
q
u
ir
ed
to
d
etec
t
t
h
e
tr
u
e
co
r
n
er
s
o
f
t
h
e
o
b
s
tacle
s
w
h
ic
h
w
ill
s
er
v
e
a
s
n
o
d
es
i
n
t
h
e
v
is
ib
ilit
y
g
r
ap
h
.
Firs
t
th
e
i
m
ag
e
is
co
n
v
er
ted
to
b
in
ar
y
i
m
ag
e
a
n
d
o
n
l
y
o
b
s
tac
l
es
ar
e
k
ep
t
in
i
m
a
g
e.
T
h
en
th
e
fi
r
s
t
s
tep
is
to
fi
ll
t
h
e
h
o
les
in
th
e
i
m
a
g
e
as
t
h
er
e
m
i
g
h
t
b
e
s
o
m
e
m
i
s
s
i
n
g
p
ix
el
s
in
s
id
e
th
e
s
e
g
m
e
n
ted
r
eg
io
n
s
t
h
u
s
cr
ea
tin
g
h
o
le
s
.
Af
ter
fi
ll
i
n
g
h
o
le
s
,
t
w
o
m
o
r
p
h
o
lo
g
ical
o
p
er
atio
n
s
o
p
en
in
g
a
n
d
clo
s
in
g
ar
e
p
er
f
o
r
m
e
d
o
n
th
e
i
m
ag
e
to
s
m
o
o
th
t
h
e
b
o
u
n
d
ar
ies.
Fig
u
r
e
3
a
s
h
o
w
s
t
h
e
p
o
s
t p
r
o
ce
s
s
ed
im
ag
e.
2
.
4
.
Co
n
fi
g
ura
t
io
n Spa
ce
O
b
s
t
a
cle
C
o
n
fig
u
r
atio
n
s
p
ac
e
o
b
s
tacle
i
s
th
e
s
et
o
f
all
co
n
fig
u
r
atio
n
s
o
r
p
o
s
it
io
n
s
o
f
r
o
b
o
t
in
w
h
ic
h
it
ca
n
h
it
th
e
o
b
s
tacle
s
.
T
h
e
r
o
b
o
t
is
cir
cu
lar
in
cu
r
r
en
t
ca
s
e
a
n
d
th
e
ce
n
ter
o
f
r
o
b
o
t
is
tak
en
as
a
r
ef
er
en
ce
p
o
in
t.
So
s
lid
in
g
th
e
r
o
b
o
t
ar
o
u
n
d
th
e
o
b
s
tacle
s
an
d
k
ee
p
in
g
tr
ac
k
o
f
th
e
cu
r
v
e
tr
ac
ed
b
y
r
e
f
er
en
ce
p
o
in
t
w
il
l
g
i
v
e
u
s
th
e
co
n
fig
u
r
atio
n
s
p
ac
e
o
b
s
tac
le
(
C
obs
)
as
s
h
o
w
n
in
Fi
g
u
r
e
3
b
.
T
o
g
et
th
is
C
obs
,
w
e
d
ilate
o
b
s
tacle
s
i
n
i
m
ag
e.
As
a
cir
cu
lar
cu
r
v
e
is
tr
ac
ed
b
y
r
o
b
o
t
ar
o
u
n
d
o
b
s
tacle
s
,
a
d
i
s
k
s
h
ap
ed
s
tr
u
ctu
r
i
n
g
ele
m
e
n
t
s
h
o
u
ld
b
e
u
s
ed
b
u
t
f
o
r
cu
r
r
en
t
p
r
o
j
ec
t,
th
e
o
b
s
tacl
es
ar
e
d
ilated
w
ith
a
s
q
u
ar
e
s
h
ap
ed
s
tr
u
ctu
r
i
n
g
ele
m
e
n
t
in
o
r
d
er
to
p
r
eser
v
e
th
e
co
r
n
er
s
th
at
w
ill
b
e
u
s
ed
in
n
e
x
t
s
tep
to
b
u
ild
v
i
s
ib
ilit
y
g
r
ap
h
.
No
w
t
h
e
r
ad
iu
s
o
f
t
h
e
r
o
b
o
t is 3
.
6
5
c
m
w
h
ic
h
i
s
eq
u
iv
ale
n
t
to
3
0
p
ix
els.
I
n
o
r
d
er
to
k
ee
p
th
e
r
o
b
o
t
at
s
a
f
e
d
is
tan
c
e
f
r
o
m
t
h
e
o
b
s
tacle
s
,
t
h
e
n
u
m
b
er
o
f
p
ix
el
s
w
a
s
m
u
ltip
lied
w
it
h
a
f
ac
to
r
1
.
5
.
So
in
t
h
is
w
a
y
,
th
e
b
o
u
n
d
ar
y
o
f
o
b
s
tacle
s
i
n
t
h
e
i
m
a
g
e
w
a
s
d
ilated
to
4
5
p
ix
els.
Fi
g
u
r
e
3
c
s
h
o
w
s
t
h
e
co
n
fig
u
r
atio
n
s
p
ac
e
o
b
s
tacle
f
o
r
th
e
r
o
b
o
t.
2
.
5
.
Co
rner
Det
ec
t
i
o
n
T
w
o
tec
h
n
iq
u
e
s
w
er
e
u
s
ed
f
o
r
d
etec
tin
g
t
h
e
co
r
n
er
s
o
f
th
e
o
b
s
tacle
s
.
T
h
e
fi
r
s
t
tech
n
iq
u
e
u
s
ed
w
a
s
th
e
Har
r
is
co
r
n
er
d
etec
to
r
[
3
]
in
w
h
ich
,
fi
r
s
t
th
e
i
m
a
g
e
g
r
ad
i
en
ts
I
x
an
d
I
y
in
x
an
d
y
d
ir
ec
tio
n
s
ar
e
ca
lcu
lated
f
o
r
ea
ch
p
ix
e
l.
A
f
ter
th
at
a
n
eig
h
b
o
r
h
o
o
d
s
ize
as
a
n
ar
ea
o
f
in
ter
e
s
t
is
d
e
fin
ed
ar
o
u
n
d
ea
ch
p
ix
el.
Fo
r
ea
ch
p
ix
el
in
t
h
e
i
m
ag
e,
t
h
e
au
to
co
r
r
elatio
n
m
atr
i
x
is
co
n
s
tr
u
cted
f
r
o
m
p
i
x
el
an
d
its
n
ei
g
h
b
o
r
h
o
o
d
v
alu
es.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
3
,
Sep
tem
b
er
201
6
:
1
51
–
1
6
0
154
Fig
u
r
e
3
.
(
a)
P
o
s
t p
r
o
ce
s
s
ed
o
u
tp
u
t
f
o
r
cu
r
r
en
t i
m
a
g
e.
(
b
)
E
x
p
lan
atio
n
o
f
co
n
fig
u
r
atio
n
s
p
a
ce
o
b
s
tacle
f
o
r
a
cir
cu
lar
r
o
b
o
t.
(
c
)
Ob
tain
in
g
t
h
e
co
n
fig
u
r
atio
n
s
p
ac
e
o
b
s
tacl
e
b
y
d
ilatio
n
u
s
in
g
a
s
q
u
ar
e
s
tr
u
ctu
r
i
n
g
.
(
1
)
L
et
λ
1
a
n
d
λ
2
b
e
th
e
E
ig
e
n
v
a
lu
es o
f
m
atr
i
x
M.
T
h
en
an
a
u
t
o
-
co
r
r
elatio
n
f
u
n
ct
io
n
R
i
s
d
efin
ed
as
(
2
)
w
h
er
e
k
is
a
n
e
m
p
ir
ical
co
n
s
tan
t.
S
h
ar
p
l
y
p
ea
k
ed
v
al
u
es
o
f
R
r
ep
r
esen
t
th
e
co
r
n
er
s
i
n
th
e
i
m
a
g
e.
A
n
o
n
m
ax
i
m
u
m
s
u
p
p
r
ess
io
n
i
s
ap
p
li
ed
to
g
et
d
es
ir
ed
n
u
m
b
er
o
f
co
r
n
er
p
o
in
ts
f
o
r
t
h
e
o
b
s
tacle
.
N
o
w
,
t
h
e
n
u
m
b
er
o
f
ex
ac
t
tr
u
e
co
r
n
er
p
o
in
ts
i
n
a
n
i
m
a
g
e
ca
n
v
ar
y
d
ep
en
d
i
n
g
o
n
th
e
n
u
m
b
er
o
f
o
b
s
tacle
s
i
n
it.
So
d
u
r
in
g
n
o
n
m
ax
i
m
u
m
s
u
p
p
r
ess
io
n
,
t
h
is
al
g
o
r
ith
m
ca
n
n
o
t
d
eter
m
i
n
e
b
y
i
ts
elf
h
o
w
m
a
n
y
e
x
ac
t
tr
u
e
co
r
n
er
p
o
in
ts
ar
e
th
er
e
f
o
r
th
e
g
i
v
en
o
b
s
tacle
s
i
n
th
e
i
m
ag
e
an
d
t
h
u
s
th
e
s
e
ar
e
g
iv
en
b
y
u
s
er
ev
er
y
ti
m
e,
a
n
e
w
i
m
ag
e
i
s
tak
e
n
.
Seco
n
d
l
y
,
i
n
ca
s
e
o
f
i
m
p
r
o
p
er
s
eg
m
e
n
tatio
n
o
f
th
e
i
m
a
g
e,
s
o
m
e
o
f
t
h
e
co
r
n
er
s
o
f
th
e
o
b
s
t
ac
les
d
o
n
o
t
r
e
m
ai
n
s
h
ar
p
.
T
h
u
s
w
h
en
Har
r
is
d
ete
cto
r
is
ap
p
lied
,
co
r
n
er
n
es
s
v
a
lu
e
o
f
s
o
m
e
o
f
t
h
e
tr
u
e
co
r
n
e
r
p
o
in
ts
i
s
n
o
t
t
h
at
h
ig
h
as
co
m
p
ar
ed
to
co
r
n
er
n
e
s
s
v
al
u
e
o
f
o
th
er
co
r
n
er
p
o
in
t
s
(
th
a
t
ar
e
n
o
t
tr
u
e
co
r
n
er
s
)
.
As
a
r
e
s
u
l
t,
Har
r
is
co
r
n
er
d
etec
to
r
m
i
s
s
e
s
s
o
m
e
c
o
r
n
er
p
o
in
ts
.
T
h
u
s
,
a
n
o
th
er
co
r
n
er
d
etec
tio
n
tec
h
n
iq
u
e
w
a
s
t
r
ied
to
av
o
id
th
ese
p
r
o
b
lem
s
.
2
.
6
.
Co
rner
Det
ec
t
o
r
ba
s
ed
o
n L
o
ca
l a
nd
G
lo
ba
l C
urv
a
t
u
re
P
ro
pert
ies
T
h
is
co
r
n
er
d
etec
to
r
[
4
]
is
p
r
o
p
o
s
ed
b
y
Xia
C
h
e
n
He
an
d
Nelso
n
H.
C
Yo
u
n
g
an
d
d
etec
ts
b
o
th
fin
e
an
d
co
ar
s
e
f
ea
tu
r
e
s
ac
cu
r
atel
y
at
lo
w
co
m
p
u
tatio
n
a
l c
o
s
t.
T
h
e
m
ain
s
tep
s
o
f
t
h
is
co
r
n
er
d
et
ec
to
r
ar
e
i)
A
p
p
l
y
i
n
g
ca
n
n
y
ed
g
e
d
etec
to
r
to
d
etec
t e
d
g
es i
n
i
m
a
g
e.
T
o
d
etec
t th
e
ed
g
es o
f
o
b
s
tacl
es u
s
in
g
ca
n
n
y
ed
g
e
d
etec
to
r
,
th
e
d
ef
a
u
lt
m
atlab
co
m
m
an
d
f
o
r
ed
g
e
d
etec
tio
n
is
u
s
ed
.
T
h
e
o
u
tp
u
t o
f
th
e
ca
n
n
y
ed
g
e
d
etec
to
r
is
a
b
in
ar
y
ed
g
e
m
ap
.
ii)
E
x
tr
ac
tin
g
t
h
e
co
n
to
u
r
s
f
r
o
m
th
e
ed
g
e
m
ap
.
I
f
th
er
e
i
s
o
n
l
y
o
n
e
o
b
s
tacle
i
n
th
e
i
m
ag
e
t
h
e
n
t
h
er
e
w
ill
b
e
o
n
l
y
o
n
e
co
n
to
u
r
a
n
d
th
e
p
o
in
ts
o
b
tain
ed
th
r
o
u
g
h
ed
g
e
d
etec
tio
n
w
i
ll r
ep
r
esen
t
t
h
is
co
n
to
u
r
.
Fo
r
m
o
r
e
t
h
a
n
o
n
e
o
b
s
tacle
,
it is
r
eq
u
ir
ed
to
ex
t
r
ac
t a
ll th
e
co
n
to
u
r
s
an
d
to
k
n
o
w
w
h
ic
h
ed
g
e
p
o
in
t
s
b
elo
n
g
to
w
h
ich
co
n
to
u
r
.
iii)
C
o
m
p
u
tin
g
t
h
e
cu
r
v
at
u
r
e
f
o
r
ea
ch
co
n
to
u
r
an
d
o
b
tain
in
g
th
e
lo
ca
l
m
a
x
i
m
a.
Af
ter
th
e
co
n
to
u
r
s
h
av
e
b
ee
n
ex
tr
ac
ted
,
th
e
n
e
x
t
s
tep
i
s
to
ca
lcu
late
t
h
e
cu
r
v
atu
r
e
v
alu
e
o
f
th
e
p
i
x
els
o
f
ea
c
h
co
n
to
u
r
as
s
h
o
w
n
i
n
(
3
)
.
T
h
e
cu
r
v
at
u
r
e
v
al
u
e
f
o
r
a
co
r
n
er
p
o
in
t
w
ill
b
e
h
i
g
h
er
as
co
m
p
ar
ed
to
th
at
o
f
an
ed
g
e
p
o
in
t.
(
3
)
Fro
m
(
3
)
,
all
th
e
lo
ca
l
m
ax
i
m
a
o
f
th
e
cu
r
v
at
u
r
e
f
u
n
ct
io
n
w
ill
p
r
o
v
id
e
u
s
th
e
i
n
itial l
is
t o
f
co
r
n
er
ca
n
d
id
ates.
2
.
7
Ro
un
d Co
rner
Re
m
oval
Fro
m
th
e
i
n
it
ial
co
r
n
er
lis
t,
r
o
u
n
d
co
r
n
er
s
ar
e
r
e
m
o
v
ed
fi
r
s
t.
No
w
,
r
e
g
io
n
o
f
s
u
p
p
o
r
t
(
R
OS)
o
f
a
co
r
n
er
is
d
efin
ed
as
th
e
s
e
g
m
e
n
t
o
f
t
h
e
co
n
to
u
r
b
o
u
n
d
ed
b
y
co
r
n
er
’
s
t
w
o
n
ea
r
es
t
cu
r
v
a
tu
r
e
m
in
i
m
a.
T
h
e
R
OS
of
ea
ch
co
r
n
er
is
u
s
ed
to
ca
lcu
late
a
lo
ca
l
th
r
es
h
o
ld
ad
ap
ti
v
el
y
g
i
v
en
b
y
(
4
)
w
h
er
e
u
is
th
e
p
o
s
itio
n
o
f
t
h
e
co
r
n
er
ca
n
d
id
ate
o
n
th
e
co
n
to
u
r
,
L
1
+
L
2
is
th
e
s
ize
o
f
th
e
r
eg
io
n
o
f
s
u
p
p
o
r
t
ce
n
ter
ed
at
u
an
d
R
is
a
co
ef
fi
cie
n
t
w
it
h
v
al
u
e
eq
u
al
to
1
.
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
E
n
viro
n
men
t D
etec
tio
n
a
n
d
P
a
th
P
la
n
n
in
g
Usi
n
g
th
e
E
-
p
u
c
k
R
o
b
o
t
(
Mu
h
a
mma
d
S
a
leem
S
u
mb
a
l
)
155
(
4
)
w
h
er
e
K
is
th
e
m
ea
n
cu
r
v
at
u
r
e
o
f
t
h
e
R
O
S.
T
h
is
T
(
u
)
ca
lcu
lated
f
o
r
ea
c
h
co
r
n
er
w
ill
b
e
co
m
p
ar
ed
w
it
h
co
r
n
er
’
s
ab
s
o
l
u
te
c
u
r
v
at
u
r
e
v
a
lu
e.
C
o
r
n
er
s
w
it
h
ab
s
o
lu
te
cu
r
v
atu
r
e
v
al
u
e
les
s
t
h
an
T
(
u
)
w
i
ll
b
e
r
o
u
n
d
co
r
n
er
s
an
d
w
ill b
e
eli
m
i
n
ated
.
v
)
Fals
e
C
o
r
n
er
R
e
m
o
v
al
T
h
e
n
ex
t
s
tep
is
to
r
e
m
o
v
e
t
h
e
f
alse
co
r
n
er
s
d
u
e
to
tr
i
v
ial
d
etails
a
n
d
n
o
is
e.
Ge
n
er
all
y
,
a
t
r
u
e
co
r
n
er
w
il
l
h
a
v
e
a
r
elativ
el
y
s
h
ar
p
an
g
le.
So
,
th
e
id
ea
is
to
ca
lcu
lat
e
th
e
an
g
le
o
f
ea
ch
co
r
n
er
an
d
co
m
p
ar
e
it
w
it
h
a
p
r
eset
an
g
le
v
al
u
e
to
d
ec
id
e
if
i
t
is
a
tr
u
e
o
r
f
alse
co
r
n
er
.
A
t
h
r
ee
p
o
in
t
m
et
h
o
d
is
u
s
e
d
to
d
o
th
is
w
h
ich
ca
lcu
late
s
an
g
le
o
f
co
r
n
er
u
s
i
n
g
ta
n
g
en
t
s
.
Her
e
R
OS
o
f
a
co
r
n
er
is
d
efin
ed
as
th
e
s
e
g
m
en
t
o
f
t
h
e
co
n
to
u
r
b
o
u
n
d
ed
b
y
t
h
e
t
w
o
n
ei
g
h
b
o
r
in
g
co
r
n
er
s
o
f
t
h
e
c
u
r
r
en
t
co
r
n
er
.
I
n
Fi
g
u
r
e
4
,
p
o
in
t
C
i
s
t
h
e
co
r
n
er
in
q
u
esti
o
n
an
d
E
an
d
F
ar
e
its
t
w
o
n
eig
h
b
o
r
in
g
co
r
n
er
s
.
I
n
th
r
ee
p
o
in
t
m
et
h
o
d
,
fi
r
s
t
o
n
o
n
e
ar
m
o
f
R
OS
(
f
r
o
m
C
to
E
)
,
th
r
ee
p
o
in
ts
(
C
,
th
e
m
id
p
o
in
t
M
an
d
E
)
ar
e
s
elec
ted
.
I
f
th
es
e
3
p
o
in
ts
ar
e
co
llin
ea
r
,
th
en
t
h
e
tan
g
e
n
t
d
ir
ec
tio
n
is
s
i
m
p
l
y
f
r
o
m
C
to
E
el
s
e
t
h
e
ce
n
ter
o
f
a
s
u
p
p
o
s
itio
n
al
cir
cl
e
is
ta
k
e
n
.
T
h
e
d
is
tan
ce
o
f
t
h
e
ce
n
ter
p
o
in
t
(
C
)
o
f
th
is
cir
cle
is
s
a
m
e
f
r
o
m
th
e
3
p
o
in
ts
.
L
et
C
=
(
x
1
,y
1
)
,
M
=
(
x
2
,y
2
)
an
d
E
=
(
x
3
,y
3
)
.
Us
in
g
th
e
co
o
r
d
in
ates
o
f
C
,
M
a
n
d
E
,
co
o
r
d
in
ates
o
f
C
0
ar
e
o
b
tain
ed
.
T
h
en
a
li
n
e
i
s
d
r
a
w
n
f
r
o
m
C
to
C
0
an
d
θ
r
ep
r
esen
t
s
t
h
e
d
ir
ec
tio
n
o
f
t
h
is
lin
e.
Si
m
ilar
l
y
t
h
e
d
ir
e
ctio
n
o
f
li
n
e
f
r
o
m
C
to
M
is
g
iv
e
n
b
y
θ.
T
h
en
th
e
ta
n
g
e
n
t
o
f
C
at
t
h
is
s
id
e
o
f
R
OS
w
il
l b
e
g
iv
e
n
as
(
5
)
w
h
er
e
s
ig
n
i
s
a
s
i
g
n
u
m
f
u
n
cti
o
n
.
Si
m
ilar
l
y
t
h
e
ta
n
g
en
t
o
f
R
OS
f
r
o
m
C
to
F
w
i
ll
b
e
ɣ
2
a
n
d
is
d
eter
m
in
ed
b
y
th
e
s
a
m
e
m
eth
o
d
.
Fig
u
r
e
4
.
E
x
p
lan
atio
n
o
f
an
g
l
e
ca
lcu
latio
n
f
o
r
co
r
n
er
C
u
s
in
g
tan
g
e
n
ts
Fin
all
y
t
h
e
an
g
le
o
f
t
h
e
co
r
n
er
C
is
g
iv
e
n
as :
(
6
)
T
h
en
,
th
e
co
r
n
er
ch
ec
k
in
g
cr
it
er
io
n
is
g
i
v
e
n
as f
o
llo
w
s
:
C
is
tr
u
e
co
r
n
er
i
f
˂
C
i ≤
θ
obtu
se
C
is
f
alse c
o
r
n
er
i
f
˂
C
i ˃
θ
obt
use
T
h
e
p
ar
am
eter
θ
obtuse
is
a
th
r
esh
o
ld
v
alu
e
w
h
ich
i
s
s
et
to
1
6
2
d
eg
r
ee
s
.
Fig
u
r
e
5
s
h
o
w
s
th
e
c
o
r
n
er
s
d
etec
ted
f
o
r
th
e
o
b
s
tacle
in
c
u
r
r
en
t i
m
a
g
e,
u
s
i
n
g
cu
r
v
atu
r
e
b
ased
co
r
n
er
d
etec
to
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
3
,
Sep
tem
b
er
201
6
:
1
51
–
1
6
0
156
Fig
u
r
e
5
.
Ou
tp
u
t o
f
C
u
r
v
at
u
r
e
b
ased
co
r
n
er
d
etec
to
r
f
o
r
o
n
e
o
b
s
tacle
2
.
8
.
Vis
ibi
lity
G
ra
ph
Co
ns
t
r
uct
io
n
A
v
is
ib
ilit
y
g
r
ap
h
i
s
co
n
s
tr
u
cted
u
s
in
g
s
tar
t
p
o
in
t
,
g
o
al
p
o
in
t
an
d
t
h
e
co
r
n
er
p
o
in
ts
.
B
ef
o
r
e
co
n
s
tr
u
ct
in
g
t
h
e
v
is
ib
ilit
y
g
r
ap
h
,
th
e
co
n
v
e
x
h
u
ll
o
f
t
h
e
o
b
s
tacle
s
is
ca
lc
u
lated
.
T
h
e
co
n
v
e
x
h
u
ll
o
f
a
g
eo
m
etr
ic
o
b
j
ec
t
(
s
u
ch
as
a
p
o
in
t
s
e
t
o
r
a
p
o
l
y
g
o
n
)
is
th
e
s
m
alle
s
t
s
et
o
f
p
o
in
t
s
co
n
tain
i
n
g
t
h
at
o
b
j
ec
t.
T
h
e
r
ea
s
o
n
s
f
o
r
o
b
tain
i
n
g
co
n
v
e
x
h
u
l
l
ar
e
th
a
t
t
h
e
r
o
b
o
t
w
ill
al
wa
y
s
f
o
llo
w
a
s
h
o
r
test
p
a
t
h
to
r
ea
ch
t
h
e
g
o
al.
So
in
Fig
u
r
e
6
,
th
e
r
o
b
o
t
w
il
l
m
o
v
e
f
r
o
m
co
r
n
er
C
to
E
an
d
w
ill
n
ev
er
m
o
v
e
f
r
o
m
co
r
n
er
C
to
D
an
d
th
en
f
r
o
m
D
to
E
as
t
h
i
s
p
at
h
i
s
n
o
t
o
p
ti
m
al.
So
t
h
e
i
n
n
er
ed
g
es
s
h
o
u
ld
n
o
t
b
e
tak
e
n
in
to
ac
co
u
n
t
a
n
d
to
d
o
th
is
,
th
e
co
n
v
e
x
h
u
l
l is
Fig
u
r
e
6
.
a)
Or
ig
in
al
o
b
s
tacle
.
b
)
Ob
s
tacle
af
ter
co
m
p
u
ti
n
g
co
n
v
e
x
h
u
ll
C
o
m
p
u
ted
u
s
i
n
g
t
h
e
d
ef
a
u
lt
m
atlab
co
m
m
an
d
'
co
n
v
h
u
ll
'
.
No
w
,
fi
r
s
t
a
b
r
u
te
f
o
r
ce
ap
p
r
o
ac
h
w
a
s
i
m
p
le
m
en
ted
f
o
r
v
i
s
ib
ilit
y
g
r
a
p
h
.
A
cc
o
r
d
in
g
to
th
is
,
if
V
is
s
et
o
f
all
n
o
d
es
(
v
er
tices
o
f
o
b
s
tacle
s
,
s
tar
t
p
o
in
t
an
d
en
d
p
o
in
t)
in
th
e
g
r
ap
h
,
t
h
en
f
o
r
ea
ch
ele
m
e
n
t,
v
ϵ
V,
t
h
e
id
ea
is
to
ch
ec
k
w
h
et
h
er
all
th
e
lin
e
s
eg
m
e
n
ts
vvi
,
v
≠
v
i
i
n
ter
s
ec
t
co
m
p
letel
y
a
n
ed
g
e
o
f
t
h
e
p
o
l
y
g
o
n
.
Fi
n
all
y
,
all
th
e
s
eg
m
e
n
ts
t
h
at
d
o
n
o
t
in
ter
s
ec
t
t
h
e
ed
g
es
o
f
p
o
l
y
g
o
n
s
co
n
s
tit
u
te
t
h
e
v
is
ib
ili
t
y
g
r
ap
h
.
T
h
e
co
m
p
u
tatio
n
a
l
co
m
p
le
x
it
y
o
f
t
h
is
a
p
p
r
o
ac
h
is
O(
n
3
)
.
T
o
r
ed
u
ce
th
e
co
m
p
u
ta
tio
n
al
ti
m
e,
an
o
t
h
er
ap
p
r
o
ac
h
ca
lled
r
o
tatio
n
al
p
lan
e
s
w
ee
p
alg
o
r
ith
m
[
5
]
,
[
6
]
w
a
s
i
m
p
le
m
en
ted
.
Fi
g
u
r
e
7
s
h
o
w
s
an
ex
a
m
p
le
w
it
h
s
o
m
e
p
o
ly
g
o
n
s
an
d
a
s
tar
t
p
o
in
t
P
an
d
a
g
o
al
p
o
in
t
n
a
m
ed
as
Go
al.
L
et
S
=
{w
1
,
w
2
,
.
.
.
.
.
,
w
13
}
b
e
th
e
s
et
o
f
n
o
d
es
co
n
s
i
s
tin
g
o
f
v
er
tice
s
o
f
p
o
ly
g
o
n
s
,
s
tar
t
p
o
in
t
an
d
g
o
al
p
o
in
t.
Fo
r
co
m
p
u
ti
n
g
th
e
s
et
o
f
v
er
tices
v
i
s
ib
le
f
r
o
m
a
n
o
d
e
(
s
a
y
f
r
o
m
P
)
,
w
e
w
i
ll
s
w
ee
p
a
lin
e
l
e
m
a
n
ati
n
g
f
r
o
m
P
an
d
r
o
tate
t
h
e
l
in
e
f
r
o
m
0
to
2
π
i
n
a
n
ticlo
ck
w
is
e
d
ir
ec
tio
n
.
I
f
a
v
er
te
x
w
is
v
i
s
ib
le
to
P
,
th
en
it
is
ad
d
ed
to
v
i
s
ib
ilit
y
g
r
a
p
h
o
t
h
er
w
is
e
n
o
t.
I
n
Fi
g
u
r
e
7
,
s
o
lid
b
lac
k
l
in
es
ar
e
t
h
e
p
at
h
s
f
r
o
m
P
to
co
r
r
esp
o
n
d
in
g
v
er
tice
s
w
h
ic
h
ar
e
v
is
ib
le
w
h
er
ea
s
th
e
r
ed
d
o
tted
lin
es
in
d
icate
th
e
p
ath
s
to
v
er
tices
w
h
ic
h
ar
e
n
o
t
v
is
ib
le
f
r
o
m
P
.
I
n
th
is
w
a
y
,
t
h
e
p
r
o
ce
s
s
is
r
ep
ea
ted
f
o
r
all
th
e
n
o
d
es
in
t
h
e
g
r
a
p
h
.
T
h
e
co
m
p
lete
alg
o
r
it
h
m
o
f
r
o
tatio
n
al
s
w
ee
p
i
s
s
h
o
w
n
in
F
ig
u
r
e
8
tak
e
n
f
r
o
m
Ma
r
k
et
al
[
6
]
.
T
h
e
s
u
b
r
o
u
ti
n
e
'
VI
SIB
L
E
'
i
n
alg
o
r
ith
m
1
d
ec
id
es
w
h
eth
er
a
v
er
tex
is
v
i
s
ib
le
f
r
o
m
c
u
r
r
e
n
t
p
o
in
t
o
r
n
o
t.
Firs
t
it
is
ch
ec
k
ed
i
f
p
w
i
in
te
r
s
ec
ts
a
n
y
i
n
ter
io
r
o
f
o
b
s
tacl
e.
I
f
y
es,
w
i
is
n
o
t
v
is
ib
le,
o
th
er
w
i
s
e,
t
h
e
s
ea
r
ch
is
o
n
l
y
m
ad
e
i
n
s
ea
r
ch
tr
ee
T
an
d
ed
g
e
clo
s
est
to
th
e
p
o
in
t
P
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f
th
is
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g
e
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ter
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ec
t
s
th
e
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eg
m
e
n
t
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w
i,
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e
n
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i
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o
t
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else
v
is
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le.
I
n
ca
s
e
o
f
m
u
ltip
le
v
er
tices
(
v
er
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w
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at
s
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o
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m
s
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t
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o
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ea
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h
er
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P
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te
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t
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g
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le.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
E
n
viro
n
men
t D
etec
tio
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a
n
d
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a
th
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Usi
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Mu
h
a
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mb
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l
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157
3
.
I
M
P
L
E
M
E
NT
AT
I
O
N
O
F
A*
AL
G
O
RI
T
H
M
A*
[
7
]
is
u
s
ed
to
fin
d
t
h
e
s
h
o
r
test
p
at
h
a
m
o
n
g
al
l
t
h
ese
p
o
s
s
ib
le
p
ath
s
p
r
o
v
id
ed
b
y
v
i
s
ib
i
lit
y
g
r
ap
h
.
A*
al
g
o
r
ith
m
is
n
o
ted
f
o
r
its
ac
cu
r
ac
y
a
n
d
p
r
o
m
i
n
e
n
ce
.
I
t
en
j
o
y
s
a
w
id
e
s
p
r
ea
d
u
s
e
i
n
t
h
e
fi
eld
o
f
co
m
p
u
ter
s
cien
ce
a
n
d
r
o
b
o
tics
.
A*
u
s
es
an
ev
al
u
atio
n
f
u
n
ctio
n
f
(
n
)
t
o
d
eter
m
i
n
e
th
e
o
r
d
er
in
w
h
ic
h
th
e
n
o
d
es
in
th
e
g
r
ap
h
ar
e
to
b
e
s
ea
r
ch
ed
.
T
h
is
f
u
n
ctio
n
is
e
x
p
r
ess
ed
as s
u
m
o
f
t
w
o
f
u
n
ctio
n
s
.
1
)
T
h
e
p
ath
co
s
t f
u
n
ctio
n
,
g
(
n
)
,
w
h
ic
h
i
s
b
asicall
y
th
e
co
s
t
f
r
o
m
s
tar
ti
n
g
n
o
d
e
to
th
e
cu
r
r
en
t n
o
d
e.
2
)
A
h
e
u
r
is
tic
e
s
ti
m
ate
o
f
t
h
e
d
is
tan
ce
f
r
o
m
t
h
e
cu
r
r
en
t
n
o
d
e
to
th
e
g
o
al
n
o
d
e.
I
t is g
i
v
en
a
s
h
(
n
)
.
T
h
is
ev
al
u
atio
n
f
u
n
c
tio
n
,
f
(
n
)
=
h
(
n
)
+
g
(
n
)
,
m
a
in
ta
in
s
a
b
ala
n
ce
o
f
t
h
e
t
w
o
f
u
n
ctio
n
as i
t
m
o
v
es
f
r
o
m
t
h
e
s
tar
t
p
o
in
t
to
t
h
e
g
o
al
p
o
in
t.
A*
s
ta
r
ts
w
it
h
t
h
e
s
tar
t
n
o
d
e
a
n
d
m
a
in
tai
n
s
a
p
r
io
r
it
y
q
u
e
u
e
(
'
o
p
en
lis
t
'
)
o
f
t
h
e
n
o
d
es
to
b
e
v
is
ited
alo
n
g
w
it
h
th
e
ir
co
s
ts
(
v
al
u
e
o
f
f
(
n
)
.
A
n
o
t
h
er
l
is
t
ca
lled
'
clo
s
ed
li
s
t
'
i
s
also
u
s
ed
w
h
ic
h
co
n
ta
in
s
th
e
n
o
d
es
t
h
at
h
a
v
e
b
ee
n
v
is
i
ted
.
T
h
is
lis
t
also
co
n
tai
n
s
th
e
b
ac
k
p
o
in
ter
to
t
h
e
v
is
ited
n
o
d
e.
B
ac
k
p
o
in
ter
p
o
in
ts
to
t
h
e
n
o
d
e
f
r
o
m
w
h
ich
th
e
v
i
s
ited
n
o
d
e
o
r
ig
i
n
ated
.
F
ig
u
r
e
9
s
h
o
w
s
t
h
e
o
u
tp
u
t
s
f
o
r
v
is
ib
il
it
y
g
r
ap
h
an
d
s
h
o
r
test
p
at
h
ca
lcu
la
ted
b
y
A*
.
Fig
u
r
e
7
.
E
x
p
lan
atio
n
o
f
r
o
tatio
n
al
p
lan
e
s
w
ee
p
al
g
o
r
ith
m
Fig
u
r
e
8
.
R
o
tatio
n
al
P
lan
e
S
wee
p
A
lg
o
r
it
h
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
3
,
Sep
tem
b
er
201
6
:
1
51
–
1
6
0
158
Fig
u
r
e
9
.
(
a)
Vis
ib
ilit
y
Gr
ap
h
w
it
h
g
r
ee
n
n
o
d
e
as st
ar
t p
o
in
t a
n
d
r
ed
n
o
d
e
as g
o
al
p
o
in
t (
b
)
Sh
o
r
test
p
ath
(
i
n
g
r
ee
n
co
lo
r
)
f
o
u
n
d
b
y
A*
4
.
P
RO
G
RAM
M
I
NG
T
H
E
E
-
P
UCK
RO
B
O
T
T
O
F
O
L
L
O
W
T
H
E
P
A
T
H
T
h
is
p
ar
t
co
m
p
r
is
es
o
f
s
e
v
er
al
s
tep
s
.
First,
a
to
o
lb
o
x
eP
ic2
i
s
u
s
ed
to
co
n
tr
o
l
e
-
p
u
ck
w
it
h
i
n
m
atlab
.
T
h
is
to
o
lb
o
x
allo
w
s
t
h
e
u
s
er
to
d
ev
elo
p
an
in
ter
f
ac
e
b
et
w
e
en
e
-
p
u
ck
a
n
d
m
atlab
u
s
i
n
g
a
s
et
o
f
co
m
m
an
d
s
.
No
w
,
t
h
e
s
h
o
r
test
p
at
h
b
y
A*
b
asicall
y
co
m
p
r
i
s
es
o
f
t
h
e
n
o
d
es
w
h
o
s
e
x
,
y
co
o
r
d
in
ates
ar
e
k
n
o
w
n
w
it
h
r
esp
ec
t
to
th
e
i
m
ag
e
co
o
r
d
in
ate
s
y
s
te
m
.
T
o
m
o
v
e
th
e
r
o
b
o
t
in
ac
t
u
al
en
v
ir
o
n
m
e
n
t,
w
e
tr
a
n
s
f
o
r
m
t
h
ese
co
o
r
d
in
ates
f
r
o
m
i
m
a
g
e
co
o
r
d
in
ate
s
y
s
te
m
to
w
o
r
ld
co
o
r
d
in
at
e
s
y
s
te
m
.
Fo
r
t
h
is
,
w
e
u
s
e
a
tr
an
s
f
o
r
m
at
io
n
m
atr
i
x
t
h
at
co
m
p
r
is
e
s
o
f
in
tr
in
s
ic
an
d
ex
tr
in
s
ic
p
ar
a
m
eter
s
o
f
ca
m
er
a
w
h
ic
h
ar
e
o
b
tain
ed
th
r
o
u
g
h
ca
m
er
a
ca
lib
r
atio
n
u
s
i
n
g
th
e
w
ell
k
n
o
w
n
B
o
u
g
u
e
t’
s
to
o
lb
o
x
.
T
h
e
im
a
g
es
o
f
a
c
h
ec
k
er
b
o
ar
d
p
atter
n
tak
en
at
d
if
f
er
en
t
a
n
g
le
s
an
d
d
if
f
er
e
n
t
p
o
s
itio
n
s
w
er
e
u
s
ed
f
o
r
co
m
p
u
ti
n
g
t
h
e
i
n
tr
in
s
ic
a
n
d
ex
tr
i
n
s
ic
p
ar
a
m
eter
s
.
Ne
x
t
,
w
e
d
eter
m
i
n
e
th
e
o
r
ien
tatio
n
o
f
r
o
b
o
t,
r
eq
u
ir
ed
to
m
a
k
e
t
h
e
r
o
b
o
t
m
o
v
e
i
n
t
h
e
p
r
o
p
er
d
ir
ec
tio
n
.
Fo
r
th
is
p
u
r
p
o
s
e,
th
e
r
o
b
o
t
h
a
s
b
ee
n
ass
i
g
n
ed
t
w
o
co
lo
r
s
.
T
h
e
id
ea
is
to
o
b
tain
th
e
ce
n
t
r
o
id
s
o
f
th
e
2
s
eg
m
en
ted
r
eg
io
n
s
o
n
r
o
b
o
t.
T
h
e
ce
n
tr
o
id
s
ar
e
ca
lcu
lated
u
s
i
n
g
th
e
m
atlab
f
u
n
ctio
n
r
e
g
io
n
p
r
o
p
s
.
No
w
t
h
e
li
g
h
t
g
r
ee
n
co
lo
r
in
d
icate
s
f
r
o
n
t
s
id
e
o
f
r
o
b
o
t w
h
er
ea
s
m
ag
e
n
ta
co
l
o
r
in
d
icate
s
th
e
b
ac
k
s
id
e
o
f
th
e
r
o
b
o
t.
L
et
(
x
m
;
y
m
)
b
e
th
e
ce
n
tr
o
id
o
f
m
a
g
en
ta
r
eg
io
n
an
d
(
x
lg
;
y
lg
)
b
e
ce
n
tr
o
id
o
f
lig
h
t
g
r
ee
n
r
eg
io
n
.
T
h
en
,
th
e
o
r
ien
tatio
n
o
f
t
h
e
r
o
b
o
t
is
ca
lcu
lated
i
n
m
at
lab
u
s
i
n
g
ata
n
2
(y
lg
-
y
m
,
x
lg
-
x
m
)
.
Fi
g
u
r
e
1
0
a
s
h
o
w
s
h
o
w
t
h
e
o
r
ien
tatio
n
is
ca
lc
u
lated
.
Af
te
r
d
eter
m
i
n
in
g
t
h
e
o
r
ien
tatio
n
,
th
e
an
g
le
o
f
th
e
tar
g
et
p
o
in
t
w
it
h
r
esp
ec
t
to
th
e
r
o
b
o
t
is
ca
lcu
lated
.
No
w
,
i
f
t
h
er
e
ar
e
th
r
ee
n
o
d
es
in
t
h
e
p
ath
,
th
e
r
o
b
o
t
w
ill
g
o
f
r
o
m
s
tar
t
n
o
d
e
to
s
ec
o
n
d
n
o
d
e
an
d
th
e
n
to
g
o
al
n
o
d
e.
So
th
e
fi
r
s
t
tar
g
et
f
o
r
t
h
e
r
o
b
o
t
w
ill
b
e
th
e
s
e
co
n
d
n
o
d
e
an
d
t
h
en
th
e
fin
al
tar
g
et
w
i
ll
b
e
th
e
g
o
al
n
o
d
e.
Hen
ce
th
e
ter
m
tar
g
et
is
u
s
ed
in
t
h
i
s
s
e
n
s
e.
L
et
(
x
tar
get
,
y
tar
g
et
)
b
e
th
e
tar
g
et
p
o
in
t.
T
h
en
,
th
e
an
g
le
o
f
tar
g
et
f
r
o
m
th
e
ce
n
ter
o
f
r
o
b
o
t
is
ca
lcu
lated
as
ata
n
2
(
y
tar
g
et
-
y
center
,
x
tar
get
-
x
center
)
(
s
ee
Fi
g
u
r
e
1
0
b
)
.
I
n
o
r
d
er
to
m
o
v
e
to
w
ar
d
s
th
e
tar
g
et
p
o
in
t,
t
h
e
r
o
b
o
t
o
r
ien
tatio
n
s
h
o
u
ld
b
e
to
w
ar
d
s
tar
g
et.
T
h
at
m
ea
n
s
t
h
at
th
e
ta
r
o
b
o
t
an
d
th
eta
tar
g
et
s
h
o
u
l
d
b
e
th
e
s
a
m
e.
So
d
ep
en
d
in
g
o
n
t
h
e
an
g
le
o
f
th
e
r
o
b
o
t
at
s
tar
t,
th
e
r
o
b
o
t
m
o
v
es
clo
ck
w
is
e
o
r
co
u
n
ter
clo
ck
w
i
s
e
to
alig
n
its
el
f
w
it
h
th
e
tar
g
et
an
d
to
m
a
k
e
th
e
th
eta
r
o
b
o
t
eq
u
al
to
t
h
eta
tar
g
et.
W
h
e
n
th
e
d
if
f
er
en
ce
b
et
wee
n
t
h
eta
r
o
b
o
t
an
d
th
eta
tar
g
e
t
is
le
s
s
t
h
an
s
o
m
e
t
h
r
es
h
o
ld
,
th
e
r
o
b
o
t
s
tar
ts
m
o
v
in
g
to
w
ar
d
s
t
h
e
tar
g
et
at
a
co
n
s
tan
t
s
p
ee
d
.
A
s
th
e
r
o
b
o
t
m
o
v
es,
th
e
o
r
ien
tatio
n
o
f
r
o
b
o
t
w
il
l
n
o
t
r
e
m
ai
n
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n
e
d
w
ith
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h
e
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g
et
p
o
in
t
d
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e
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o
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o
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etr
y
er
r
o
r
s
.
So
to
h
an
d
le
th
i
s
,
th
e
i
m
a
g
e
s
o
f
th
e
en
v
ir
o
n
m
en
t
ar
e
co
n
ti
n
u
o
u
s
l
y
ca
p
tu
r
ed
an
d
th
eta
r
o
b
o
t
a
n
d
th
eta
tar
g
et
ar
e
ca
lcu
lated
a
g
ai
n
a
n
d
ag
a
in
as
th
e
r
o
b
o
t
is
m
o
v
i
n
g
.
Dep
en
d
i
n
g
o
n
th
e
s
e
a
n
g
les
th
e
m
o
v
e
m
en
t
o
f
t
h
e
r
o
b
o
t
is
ad
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u
s
ted
to
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a
k
e
s
u
r
e
t
h
at
r
o
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o
t
m
o
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es
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n
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o
p
er
d
ir
ec
tio
n
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ls
o
a
c
h
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t
o
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i
s
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ce
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et
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n
t
h
e
r
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b
o
t
ce
n
ter
an
d
th
e
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g
et
p
o
in
t.
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h
en
t
h
e
d
is
ta
n
ce
is
les
s
th
a
n
1
c
m
,
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h
e
r
o
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t
s
to
p
s
m
ea
n
in
g
t
h
at
it
h
as
r
ea
ch
ed
th
e
tar
g
et.
I
f
th
e
r
o
b
o
t
h
as
n
o
t
r
ea
ch
ed
th
e
g
o
al
n
o
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e
(
fi
n
al
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g
et)
,
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e
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l
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e
ac
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e.
Fig
u
r
e
10
c
s
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s
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o
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t h
as r
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t p
ath
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Fig
u
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e
10
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(
a)
Or
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o
f
r
o
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b
)
E
x
p
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o
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e
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le
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r
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o
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t (
c)
R
o
b
o
t r
ea
ch
es th
e
g
o
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p
o
s
itio
n
b
y
f
o
llo
w
in
g
t
h
e
s
h
o
r
test
p
ath
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
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n
viro
n
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t D
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Usi
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-
p
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k
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o
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Mu
h
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mb
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l
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15
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5
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RE
SUL
T
S
R
es
u
lts
o
b
tai
n
ed
f
o
r
d
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f
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en
t
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er
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m
e
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ts
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ill
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e
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ed
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o
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g
u
r
e
1
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i
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e
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m
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le
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e
o
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e
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n
o
n
e
o
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s
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T
ab
le
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ex
p
lai
n
s
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e
o
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er
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ith
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e
o
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ar
y
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n
g
n
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m
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er
o
f
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s
an
d
T
ab
le
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I
co
m
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ar
es
th
e
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er
f
o
r
m
a
n
ce
o
f
t
w
o
a
p
p
r
o
ac
h
es
u
s
ed
f
o
r
co
n
s
tr
u
ct
in
g
v
is
ib
ili
t
y
g
r
ap
h
.
T
ab
le
1
.
T
a
b
le
ex
p
lain
i
n
g
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
al
g
o
r
ith
m
s
f
o
r
d
if
f
er
e
n
t n
u
m
b
er
o
f
o
b
s
ta
cles c
o
n
s
id
er
i
n
g
o
b
s
tacle
s
o
f
s
a
m
e
s
ize
a
n
d
s
h
a
p
e
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av
o
id
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ias
Fig
u
r
e
10
.
Ou
tp
u
ts
o
f
th
e
al
g
o
r
ith
m
s
i
n
ca
s
e
o
f
5
o
b
s
tacle
s
(
a)
Or
ig
in
al
i
m
a
g
e
(
b
)
Seg
m
e
n
t
ed
im
a
g
e
(
c)
Vis
ib
ilit
y
g
r
ap
h
alo
n
g
w
it
h
th
e
s
h
o
r
test
p
ath
b
y
A*
s
h
o
wn
in
g
r
ee
n
co
lo
r
(
d
)
Path
f
o
llo
w
ed
b
y
r
o
b
o
t to
r
ea
ch
g
o
al
T
ab
le
2
.
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a
b
le
ex
p
lain
i
n
g
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
t
w
o
ap
p
r
o
ac
h
es
f
o
r
v
is
ib
il
it
y
g
r
ap
h
6
.
CO
NCLUS
I
O
N
AND
F
UT
UR
E
WO
RK
6
.1
.
Co
nclus
io
n
Fro
m
p
r
ev
io
u
s
s
ec
t
io
n
,
s
o
m
e
i
m
p
o
r
tan
t
i
n
f
er
en
ce
s
ca
n
b
e
m
ad
e
r
eg
ar
d
in
g
e
f
fi
cie
n
c
y
o
f
alg
o
r
ith
m
s
.
W
ith
t
h
e
i
n
cr
ea
s
e
in
n
u
m
b
er
o
f
o
b
s
tacle
s
(
o
f
s
a
m
e
s
ize
a
n
d
s
h
ap
e)
,
th
e
n
u
m
b
er
o
f
co
r
n
er
p
o
in
ts
to
b
e
d
etec
ted
also
in
cr
ea
s
e.
So
,
t
h
e
co
r
n
er
d
etec
tio
n
alg
o
r
it
h
m
w
ill
ta
k
e
m
o
r
e
t
i
m
e.
T
h
is
tr
e
n
d
ca
n
c
h
an
g
e
i
f
o
b
s
tacle
s
o
f
v
ar
y
i
n
g
s
h
ap
e
s
an
d
s
izes
ar
e
co
n
s
id
er
ed
as
n
u
m
b
er
o
f
co
r
n
er
p
o
in
ts
o
f
ea
ch
o
b
s
tacle
ca
n
v
ar
y
in
t
h
at
ca
s
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
3
,
Sep
tem
b
er
201
6
:
1
51
–
1
6
0
160
T
h
en
,
ti
m
e
ta
k
e
n
f
o
r
t
h
e
v
i
s
i
b
ilit
y
g
r
ap
h
in
cr
ea
s
es
w
i
th
i
n
cr
ea
s
e
in
n
u
m
b
er
o
f
n
o
d
es
as
m
o
r
e
p
ath
s
w
i
ll
b
e
g
en
er
ated
a
m
o
n
g
n
o
d
es.
A
ls
o
,
r
o
tatio
n
al
p
lan
e
s
w
ee
p
ap
p
r
o
ac
h
f
o
r
co
n
s
tr
u
c
tin
g
v
is
ib
ilit
y
g
r
ap
h
o
u
tp
er
f
o
r
m
s
th
e
b
r
u
te
f
o
r
ce
ap
p
r
o
ac
h
.
T
im
e
tak
en
b
y
A*
d
ep
en
d
s
o
n
w
h
e
r
e
th
e
g
o
al
is
lo
ca
ted
in
th
e
e
n
v
ir
o
n
m
en
t a
n
d
h
o
w
m
an
y
o
b
s
tacle
s
ar
e
th
er
e
i
n
b
et
w
ee
n
g
o
al
an
d
s
tar
t
p
o
in
t.
I
f
th
e
g
o
al
p
o
in
t
is
lo
ca
ted
clo
s
e
to
th
e
s
tar
t
p
o
in
t,
alg
o
r
ith
m
w
i
ll
ta
k
e
les
s
ti
m
e
a
s
it
w
il
l sear
c
h
a
f
e
w
p
ath
s
to
r
ea
ch
g
o
al
a
n
d
v
ice
v
er
s
a.
A
ls
o
,
p
r
o
p
e
r
lig
h
te
n
i
n
g
co
n
d
itio
n
s
s
h
o
u
ld
b
e
m
a
in
ta
in
ed
f
o
r
im
a
g
e
s
e
g
m
e
n
tatio
n
o
t
h
er
w
i
s
e
th
e
r
es
u
lt
s
ca
n
v
ar
y
.
6
.
2
.
F
uture
Wo
rk
I
n
th
is
p
r
o
j
ec
t,
s
tatic
en
v
ir
o
n
m
en
t
is
a
s
s
u
m
ed
i.e
.
th
e
o
b
s
t
ac
les
ar
e
fix
ed
.
Ho
w
e
v
er
,
w
h
en
t
h
er
e
ar
e
m
o
v
i
n
g
o
b
s
tacle
s
in
t
h
e
en
v
ir
o
n
m
e
n
t,
it
is
r
eq
u
ir
ed
to
r
e
p
la
n
th
e
p
ath
a
f
ter
s
p
ec
i
fi
c
in
ter
v
als
in
o
r
d
er
to
k
n
o
w
if
a
n
y
c
h
an
g
e
o
cc
u
r
r
ed
in
t
h
e
e
n
v
ir
o
n
m
e
n
t.
D
*
[
8
]
alg
o
r
ith
m
w
h
ich
is
a
n
e
x
te
n
s
io
n
o
f
A*
,
ca
n
b
e
i
m
p
le
m
en
ted
in
t
h
is
ca
s
e.
T
h
en
,
in
th
i
s
p
r
o
j
ec
t,
p
o
s
t
p
r
o
ce
s
s
in
g
i
s
d
o
n
e
af
ter
i
m
ag
e
s
e
g
m
en
tatio
n
to
s
m
o
o
t
h
th
e
b
o
u
n
d
ar
ies
o
f
o
b
s
tacle
s
.
An
e
f
f
ic
ien
t
tech
n
iq
u
e
w
as
f
o
u
n
d
later
o
n
ca
lled
s
i
m
p
li
f
y
i
n
g
p
o
ly
g
o
n
s
w
h
ic
h
ca
n
b
e
ap
p
lied
to
g
et
th
e
s
m
o
o
th
b
o
u
n
d
ar
ies
o
f
o
b
s
tacle
s
.
I
m
p
r
o
v
e
m
e
n
ts
ca
n
al
s
o
b
e
m
ad
e
r
eg
ar
d
in
g
v
is
ib
il
it
y
g
r
ap
h
co
n
s
tr
u
ctio
n
.
Mo
r
e
ef
f
i
cien
t
al
g
o
r
ith
m
s
f
o
r
ex
a
m
p
le
Gh
o
s
h
a
n
d
Mo
u
n
t
[
9
]
,
ca
n
b
e
im
p
le
m
e
n
ted
to
f
u
r
t
h
er
r
ed
u
ce
th
e
co
m
p
u
tatio
n
ti
m
e
f
o
r
v
i
s
ib
ilit
y
g
r
ap
h
.
R
E
F
E
R
E
NC
E
S
[1
]
Ja
m
e
s
Bru
c
e
a
n
d
T
u
c
k
e
r
Ba
lc
h
a
n
d
M
a
n
u
e
la
V
e
lo
so
,
”
F
a
st
a
n
d
I
n
e
x
p
e
n
siv
e
Co
lo
r
Im
a
g
e
S
e
g
m
e
n
tatio
n
f
o
r
In
tera
c
ti
v
e
Ro
b
o
ts”
,
I
n
P
r
o
c
e
e
d
in
g
s o
f
IROS
-
2
0
0
0
,
2
0
6
1
–
2
0
6
6
,
2
0
0
0
.
[2
]
Ro
b
e
rt
T
.
M
c
Ke
o
n
;
M
o
h
a
n
Kris
h
n
a
n
;
M
a
rk
P
a
u
li
k
.
,
”
Ob
sta
c
le
re
c
o
g
n
it
io
n
u
si
n
g
re
g
io
n
-
b
a
se
d
c
o
lo
r
se
g
m
e
n
tatio
n
tec
h
n
iq
u
e
s f
o
r
m
o
b
il
e
ro
b
o
t
n
a
v
ig
a
ti
o
n
.
”
,
P
ro
c
.
S
P
IE
,
,
6
3
8
4
,
6
3
8
4
0
R
2
0
0
6
.
[3
]
C.
Ha
rris
a
n
d
M
.
S
tep
h
e
n
s
,
”
A
Co
m
b
in
e
d
Co
rn
e
r
a
n
d
E
d
g
e
De
tec
to
r”
,
4
th
A
L
V
EY
V
isio
n
C
o
n
f
e
re
n
c
e
,
p
p
1
4
7
–
1
5
1
,
1
9
8
8
.
[4
]
He
,
X
iao
C.
a
n
d
Y
u
n
g
,
Ne
lso
n
H.
C.
,
”
Co
rn
e
r
d
e
tec
to
r
b
a
se
d
o
n
g
lo
b
a
l
a
n
d
l
o
c
a
l
c
u
rv
a
tu
re
p
ro
p
e
rti
e
s”
,
Op
ti
c
a
l
En
g
in
e
e
rin
g
,
4
7
(5
)
,
2
0
0
8
.
[5
]
L
e
e
,
D.
T
,
P
h
.
D.
th
e
sis
a
n
d
T
e
c
h
.
Re
p
o
rt,
A
CT
-
1
2
,
Co
o
rd
i
n
a
ted
S
c
ien
c
e
L
a
b
o
ra
to
ry
,
Un
iv
e
rsit
y
o
f
Il
li
n
o
is
a
t
Urb
a
n
a
-
Ch
a
m
p
a
ig
n
,
Urb
a
n
a
,
IL
(1
9
7
8
).
[6
]
M
.
d
e
Be
rg
,
M
.
v
a
n
Kre
v
e
ld
,
a
n
d
M
.
Ov
e
r
m
a
rs,
”
Co
m
p
u
tatio
n
a
l
G
e
o
m
e
tr
y
:
A
l
g
o
rit
h
m
s
a
n
d
A
p
p
li
c
a
ti
o
n
s”
,
S
p
rin
g
e
r,
Be
rli
n
,
1
9
9
7
.
[7
]
Ha
rt,
P
e
ter
E.
a
n
d
Nilsso
n
,
Ni
l
s
J.
a
n
d
Ra
p
h
a
e
l,
Be
rtram
,
”
A
F
o
rm
a
l
Ba
sis
f
o
r
th
e
He
u
risti
c
De
ter
m
in
a
ti
o
n
o
f
M
in
im
u
m
Co
st P
a
t
h
s”
,
S
IG
ART
Bu
ll
.
,
(
3
7
):
p
p
2
8
–
2
9
,
1
9
7
2
.
[8
]
A
n
th
o
n
y
S
ten
tz,
”
Op
ti
m
a
l
a
n
d
Ef
f
icie
n
t
P
a
th
P
lan
n
in
g
f
o
r
P
a
rti
a
ll
y
Kn
o
w
n
En
v
ir
o
n
m
e
n
ts”
,
IJCA
I’9
5
:
P
r
o
c
e
e
d
in
g
s
o
f
th
e
1
4
th
in
ter
n
a
ti
o
n
a
l
jo
in
t
c
o
n
f
e
re
n
c
e
o
n
A
rti
fi
c
ial
in
telli
g
e
n
c
e
,
1
6
5
2
–
1
6
5
9
,
1
9
9
5
.
[9
]
G
h
o
sh
,
S
u
b
ir
Ku
m
a
r
a
n
d
M
o
u
n
t,
Da
v
id
M
.
,
”
A
n
o
u
t
p
u
t
-
se
n
siti
v
e
a
lg
o
rit
h
m
f
o
r
c
o
m
p
u
ti
n
g
v
isib
il
it
y
”
,
S
IA
M
J.
Co
m
p
u
t.
,
2
0
(5
)
,
p
p
8
8
8
–
9
1
0
,
1
9
9
1
.
B
I
O
G
RAP
H
Y
O
F
AUTHO
R
Salee
m
S
u
m
b
a
l
h
is
u
n
d
er
g
r
ad
u
ate
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eg
r
ee
in
elec
tr
ical
en
g
i
n
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r
in
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f
r
o
m
A
ir
Un
i
v
er
s
it
y
,
I
s
la
m
ab
ad
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n
2
0
0
7
w
it
h
d
i
s
ti
n
ctio
n
.
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h
en
,
g
o
t
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r
as
m
u
s
M
u
n
d
u
s
Sc
h
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h
ip
f
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i
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C
o
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p
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ter
Vis
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d
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(
VI
B
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)
.
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h
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s
ter
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r
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p
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ar
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m
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Her
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Un
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v
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UK,
Un
i
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n
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ain
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d
Un
i
v
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h
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r
ee
in
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ec
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m
R
ip
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n
ter
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U
n
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it
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s
l
a
m
ab
ad
.
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i
s
c
u
r
r
en
tl
y
p
u
r
s
u
i
n
g
a
P
HD
d
eg
r
ee
in
Ho
n
g
Ko
n
g
.
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