Related papers: Parameterization of configuration space obstacles …
We study an elementary problem of topological robotics: rotation of a line, which is fixed by a revolving joint at a base point: one wants to bring the line from its initial position to a final position by a continuous motion in the space.…
The field of algorithmic optimization has significantly advanced with the development of methods for the automatic configuration of algorithmic parameters. This article delves into the Algorithm Configuration Problem, focused on optimizing…
The main objective of this work is to describe a general and original approach for computing an off-line solution for a set of parameters describing the geometry of the domain. That is, a solution able to include information for different…
In previous work, we introduced a method for modeling a configuration of objects in 2D and 3D images using a mathematical "medial/skeletal linking structure." In this paper, we show how these structures allow us to capture positional…
The geometry of rotations in dimensions 3, 4, and 5 is discussed using the matrix exponential map. Explicit closed formulas for the exponential of an antisymmetric matrix, as well as the logarithm of a rotation, are given for these…
Shape formation is a basic distributed problem for systems of computational mobile entities. Intensively studied for systems of autonomous mobile robots, it has recently been investigated in the realm of programmable matter. Namely, it has…
Human movement is goal-directed and influenced by the spatial layout of the objects in the scene. To plan future human motion, it is crucial to perceive the environment -- imagine how hard it is to navigate a new room with lights off.…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…
Geometric rounding of a mesh is the task of approximating its vertex coordinates by floating point numbers while preserving mesh structure. Geometric rounding allows algorithms of computational geometry to interface with numerical…
In the optimization of convex domains under a PDE constraint numerical difficulties arise in the approximation of convex domains in $\mathbb{R}^3$. Previous research used a restriction to rotationally symmetric domains to reduce shape…
We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). The robot itself…
We introduce an algorithm which can be directly used to feasible and optimum search in linear programming. Starting from an initial point the algorithm iteratively moves a point in a direction to resolve the violated constraints. At the…
Airspace sectorisation provides a partition of a given airspace into sectors, subject to geometric constraints and workload constraints, so that some cost metric is minimised. We make a study of the constraints that arise in airspace…
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…
We present a computational framework that transforms single images into 3D physical objects. The visual geometry of a physical object in an image is determined by three orthogonal attributes: mechanical properties, external forces, and…
Modern software systems are often highly configurable to tailor varied requirements from diverse stakeholders. Understanding the mapping between configurations and the desired performance attributes plays a fundamental role in advancing the…
For three-body problem, R.Montgomery [3] proved a reconstruction formula which calculates the overall rotation relating two similar triangle configurations if the initial triangular configuration is similar to the configuration formed at…
Given a 3-dimensional (para-)CR structure, its family of chains define a 3-dimensional path geometry. We provide necessary and sufficient conditions that determine whether a path geometry in dimension three arises from chains of a CR or…
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…