Geometry and Robotics

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InhaltsangabeEffective 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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