Geometry and robotics : workshop, Toulouse, France, May 26-28, 1988 : proceedings

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Geometry and robotics : workshop, Toulouse, France, May 26-28, 1988 : proceedings

J.-D. Boissonnat, J.-P. Laumond (eds.)

（Lecture notes in computer science, 391）

Springer-Verlag, c1989

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Note

"The French 'Geometry and Robotics' workshop was held at the LAAS-CNRS in Toulouse (France), May 26-28, 1988"--Pref

"Workshop has been jointly organized by INRIA and LAAS-CNRS"--Pref

Includes bibliographical references

Description and Table of Contents

Table of Contents

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.

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