Geometry and Robotics

Inhaltsverzeichnis

• Effective semialgebraic geometry.
• Curves and computer algebra.
• Placement of polygons.
• The algorithm by schwartz, sharir and collins on the piano mover's problem.
• A practical exact motion planning algorithm for polygonal objects amidst polygonal obstacles.
• Motion planning for manipulators in complex environments.
• Planning collision free trajectories by a configuration space approach.
• Trajectory planning and motion control for mobile robots.
• Motion planning for a mobile robot with a kinematic constraint.
• Motion from point matches: multiplicity of solutions.
• Singular configurations of parallel manipulators and grassmann geometry.
• Applications of geometric homology.
• Some examples of algorithms analysis in computational geometry by means of mathematical morphological techniques.
• An optimal algorithm for the boundary of a cell in a union of rays.
• Triangulation in 2D and 3D space.
• Hamiltonian cycles in delaunay complexes.
• Models of robot manipulators.
• Modelling positioning uncertainties.
• Contact manipulation and geometric reasoning.
• Geometric reasoning in motion planning.