Related papers: Robots, computer algebra and eight connected compo…
Parallel robots admit generally several solutions to the direct kinematics problem. The aspects are associated with the maximal singularity free domains without any singular configurations. Inside these regions, some trajectories are…
We give new positive and negative results (some conditional) on speeding up computational algebraic geometry over the reals: (1) A new and sharper upper bound on the number of connected components of a semialgebraic set. Our bound is novel…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is…
Dynamic Connectivity is a fundamental algorithmic graph problem, motivated by a wide range of applications to social and communication networks and used as a building block in various other algorithms, such as the bi-connectivity and the…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
A standard question in real algebraic geometry is to compute the number of connected components of a real algebraic variety in affine space. By adapting an approach for determining connectivity in complements of real hypersurfaces by Hong,…
We study the Universal Solvability of Robot Motion Planning on Graphs (USolR) problem: given an undirected graph $G = (V, E)$ and $p$ robots, determine whether any arbitrary configuration of the robots can be transformed into any other…
We use algebraic geometry to study matrix rigidity, and more generally, the complexity of computing a matrix-vector product, continuing a study initiated by Kumar, et. al. We (i) exhibit many non-obvious equations testing for (border)…
Let $\mathbb{R}$ be the field of real numbers. We consider the problem of computing the real isolated points of a real algebraic set in $\mathbb{R}^n$ given as the vanishing set of a polynomial system. This problem plays an important role…
Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…
This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and introduces the designer to the singularity…
A roadmap for an algebraic set $V$ defined by polynomials with coefficients in the field $\mathbb{Q}$ of rational numbers is an algebraic curve contained in $V$ whose intersection with all connected components of $V\cap\mathbb{R}^{n}$ is…
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity…
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be described in terms of distances between rigidly-attached points,…
This paper presents analytical solvers for four common types of algebraic equations encountered in robot kinematics: single trigonometric equations, single-angle trigonometric systems, two-angle trigonometric systems, and bilinear two-angle…
We present a new method for visualizing implicit real algebraic curves inside a bounding box in the $2$-D or $3$-D ambient space based on numerical continuation and critical point methods. The underlying techniques work also for tracing…
Many algorithms for determining properties of real algebraic or semi-algebraic sets rely upon the ability to compute smooth points. Existing methods to compute smooth points on semi-algebraic sets use symbolic quantifier elimination tools.…
The main objective of this paper is to introduce a new method for qualitative analysis of various designs of robot arms. To this end we define the complexity of a map, examine its main properties and develop some methods of computation. In…