Geometry and Robotics: Workshop, Toulouse, France, May 26–28, 1988 Proceedings

Effective semialgebraic geometry....Pages 1-27
Curves and computer algebra....Pages 28-42
Placement of polygons....Pages 43-48
The algorithm by schwartz, sharir and collins on the piano mover's problem....Pages 49-66
A practical exact motion planning algorithm for polygonal objects amidst polygonal obstacles....Pages 67-86
Motion planning for manipulators in complex environments....Pages 87-115
Planning collision free trajectories by a configuration space approach....Pages 116-132
Trajectory planning and motion control for mobile robots....Pages 133-149
Motion planning for a mobile robot with a kinematic constraint....Pages 150-171
Motion from point matches: multiplicity of solutions....Pages 172-193
Singular configurations of parallel manipulators and grassmann geometry....Pages 194-212
Applications of geometric homology....Pages 213-224
Some examples of algorithms analysis in computational geometry by means of mathematical morphological techniques....Pages 225-246
An optimal algorithm for the boundary of a cell in a union of rays....Pages 247-274
Triangulation in 2D and 3D space....Pages 275-291
Hamiltonian cycles in delaunay complexes....Pages 292-305
Models of robot manipulators....Pages 306-335
Modelling positioning uncertainties....Pages 336-360
Contact manipulation and geometric reasoning....Pages 361-376
Geometric reasoning in motion planning....Pages 377-413