Related papers: Rational Framing Motions and Spatial Rational Pyth…
We present a method for constructing all bounded rational motions that frame a space curve $\mathbf{r}(t)$. This means that the motion guides an orthogonal frame along the curve such that one frame axis is in direction of the curve tangent.…
All rational parametric curves with prescribed polynomial tangent direction form a vector space. Via tangent directions with rational norm, this includes the important case of rational Pythagorean hodograph curves. We study vector subspaces…
We solve the so far open problem of constructing all spatial rational curves with rational arc length functions. More precisely, we present three different methods for this construction. The first method adapts a recent approach of (Kalkan…
This paper addresses the problem of determining the symmetries of a plane or space curve defined by a rational parametrization. We provide effective methods to compute the involution and rotation symmetries for the planar case. As for space…
In the past few decades polynomial curves with Pythagorean Hodograph (for short PH curves) have received considerable attention due to their usefulness in various CAD/CAM areas, manufacturing, numerical control machining and robotics. This…
Using a residuum approach, we provide a complete description of the space of the rational spatial curves of given tangent directions. The rational Pythagorean hodograph curves are obtained as a special case when the norm of the direction…
This paper presents a two-stage prediction-based control scheme for embedding the environment's geometric properties into a collision-free Pythagorean Hodograph spline, and subsequently finding the optimal path within the parameterized free…
By interpreting planar polynomial curves as complex-valued functions of a real parameter, an inner product, norm, metric function, and the notion of orthogonality may be defined for such curves. This approach is applied to the complex…
The present paper attempts to show an alternative approach with regards to rational Pythagorean-hodograph (PH) curves and especially more natural approach for rational PH helices (i.e. rational helices). It exploits geometric features of…
A rotation-minimizing frame $({\bf f}_1,{\bf f}_2,{\bf f}_3)$ on a space curve ${\bf r}(\xi)$ defines an orthonormal basis for $\mathbb{R}^3$ in which ${\bf f}_1={\bf r}'/|{\bf r}'|$ is the curve tangent, and the normal-plane vectors ${\bf…
The distinctive feature of a polynomial parametric speed let polynomial Pythagorean-hodograph (PH) curves be attractive for the design of accurate and efficient application algorithms. We propose a robust path following scheme for the…
We fully characterize the mappings $\Phi$ that send every Pythagorean-hodograph (PH) curve to a PH curve. We prove that in any dimension, such mappings are precisely the conformal functions whose dilation is the square of a real rational…
We introduce the new class of planar Pythagorean-Hodograph (PH) B-Spline curves. They can be seen as a generalization of the well-known class of planar Pythagorean-Hodograph (PH) B\'ezier curves, presented by R. Farouki and T. Sakkalis in…
In this paper we provide a computational approach to the shape of curves which are rational in polar coordinates, i.e. which are defined by means of a parametrization (r(t),\theta(t)) where both r(t),\theta(t) are rational functions. Our…
We present a new algorithm to decompose generic spinor polynomials into linear factors. Spinor polynomials are certain polynomials with coefficients in the geometric algebra of dimension three that parametrize rational conformal motions.…
We describe a new method for constructing a spectrahedral representation of the hyperbolicity region of a hyperbolic curve in the real projective plane. As a consequence, we show that if the curve is smooth and defined over the rational…
In this paper we present algorithms for computing the topology of planar and space rational curves defined by a parametrization. The algorithms given here work directly with the parametrization of the curve, and do not require to compute or…
We introduce a general framework for the construction of polynomial frames in $L^2(\mathbb{S}^{d-1})$, $d \geq 3$, where the frame functions are obtained as rotated versions of an initial sequence of polynomials $\Psi^j$, $j\in…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
We investigate the folding problem that asks if a polygon P can be folded to a polyhedron Q for given P and Q. Recently, an efficient algorithm for this problem has been developed when Q is a box. We extend this idea to regular polyhedra,…