Problem statement:
Given start (purple) and goal (red) configurations of a closed polygonal chain, determine an optimal trajectory connecting the start to the goal.
We have developed a low-order polynomial-time complete algorithm for solving this problem; if a solution exists, it will be found; if not, nonexistence will be reported. We ignore link-link collisions and assume no joint limits. You can see some of our initial solutions in action by clicking on the images below.
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