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Minkowski addition
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=== Motion planning === Minkowski sums are used in [[motion planning]] of an object among obstacles. They are used for the computation of the [[Configuration space (physics)|configuration space]], which is the set of all admissible positions of the object. In the simple model of translational motion of an object in the plane, where the position of an object may be uniquely specified by the position of a fixed point of this object, the configuration space are the Minkowski sum of the set of obstacles and the movable object placed at the origin and rotated 180 degrees.
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