Related papers: Closed Bounded Rational Framing Motions
We propose a new method for constructing rational spatial Pythagorean Hodograph (PH) curves based on determining a suitable rational framing motion. While the spherical component of the framing motion is arbitrary, the translation part is…
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…
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…
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…
In this paper, we construct rotating frames for curves, including plane curves, space curves and curves on surfaces. Hence, the behaviour of an arbitrary moving point on a curve can be seen as the composite of linear motion and rotation.…
We consider curves $\gamma : [0, 1]\to\mathbb{R}^3$ endowed with an adapted orthonormal frame $r : [0, 1]\to SO(3)$. We are interested in the cases where the frame is constrained, in the sense that one of its `curvatures' (i.e.,…
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…
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…
One distinguishing feature of rational curves is that they have algebraic parameterizations. Arc spaces are a way of describing approximations to parameterizations of all curves in some fixed space. Playing on these descriptions, this paper…
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…
In this paper, we develop the theory of constrained motion spaces of robotic arms. We compute their homology groups in two cases: when the constraint is a horizontal line and when it is a smooth curve whose motion space is a smooth…
We provide criteria for deciding whether a given planar curve is an image of a given spatial curve, obtained by a central or a parallel projection with unknown parameters. These criteria reduce the projection problem to a certain…
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…
Due to Poinsot's theorem, the motion of a rigid body about a fixed point is represented as rolling without slipping of the moving hodograph of the angular velocity over the fixed one. If the moving hodograph is a closed curve, visualization…
By studying the theory of rational curves, we introduce a notion of rational simple connectedness for projective homogeneous spaces. As an application, we prove that over a function field of an algebraic surface, a projective homogeneous…
Recent advances in video generation have shown promise for generating future scenarios, critical for planning and control in autonomous driving and embodied intelligence. However, real-world applications demand more than visually plausible…
This paper presents PHODCOS, an algorithm that assigns a moving coordinate system to a given curve. The parametric functions underlying the coordinate system, i.e., the path function, the moving frame and its angular velocity, are exact --…
This paper investigates the construction of rational motions of a minimal quaternionic degree that generate a prescribed plane trajectory (a ``rational torse''). Using the algebraic framework of dual quaternions, we formulate the problem as…
In this paper, we study how to find rational motions that move a line along a given rational ruled surface. Our goal is to find motions with the lowest possible degree using dual quaternions. While similar problems for point trajectories…
In this work we are interested in the characterization of curves that belong to a given surface. To the best of our knowledge, there is no known general solution to this problem. Indeed, a solution is only available for a few examples:…