Related papers: A minimum swept-volume metric structure for config…

Deformed relativistic kinematics have been considered as a way to capture residual effects of quantum gravity. It has been shown that they can be understood geometrically in terms of a curved momentum space on a flat spacetime. In this…

Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot often encounters angle limitations during…

Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…

Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…

Many objects, especially these made by humans, are symmetric, e.g. cars and aeroplanes. This paper addresses the estimation of 3D structures of symmetric objects from multiple images of the same object category, e.g. different cars, seen…

S. Donaldson introduced a metric on the space of volume forms, with fixed total volume on any compact Riemmanian manifold. With this metric, the space of volume forms formally has non-positive curvature. The geodesic equation is a fully…

We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…

Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…

We construct the differential geometry of smooth manifolds equipped with an algebraic curvature map acting as an area measure. Area metric geometry provides a spacetime structure suitable for the discussion of gauge theories and strings,…

In this paper we prove two theorems. The first one is a structure result that describes the extrinsic geometry of an embedded surface with constant mean curvature (possibly zero) in a homogeneously regular Riemannian three-manifold, in any…

We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…

The distribution of the deformations of elementary cells is studied in an abstract lattice constructed from the existence of the empty set. One combination rule determining oriented sequences with continuity of set-distance function in such…

The determination of space layout is one of the primary activities in the schematic design stage of an architectural project. The initial layout planning defines the shape, dimension, and circulation pattern of internal spaces; which can…

We derive the equations of motion for a planar rigid body of circular shape moving in a 2D perfect fluid with point vortices using symplectic reduction by stages. After formulating the theory as a mechanical system on a configuration space…

Deformation due to embedded fluidic networks is currently studied in the context of soft-actuators and soft-robotics. Expanding on this concept, beams can be designed so that the pressure in the channel-network is created directly from…

We show that the path of any accelerated body in an arbitrary space-time geometry $g_{\mu\nu}$ can be described as geodesics in a dragged metric $\hat{q}_{\mu\nu}$ that depends only on the background metric and on the motion of the body.…

Algorithms for minimal enclosing ball problems are often geometric in nature. To highlight the metric ingredients underlying their efficiency, we focus here on a particularly simple geodesic-based method. A recent subgradient-based study…

We formulate a mathematical theory of auxetic behavior based on one-parameter deformations of periodic frameworks. Our approach is purely geometric, relies on the evolution of the periodicity lattice and works in any dimension. We…

Any solid object can be decomposed into a collection of convex polytopes (in short, convexes). When a small number of convexes are used, such a decomposition can be thought of as a piece-wise approximation of the geometry. This…

It is known that for a variety of choices of metrics, including the standard bottleneck distance, the space of persistence diagrams admits geodesics. Typically these existence results produce geodesics that have the form of a convex…