A tutorial survey is presented of the quadtree and related hierarchical data structures. They
are based on the principle of recursive decomposition. The emphasis is on the …

In recent years, a large number of manipulator robots have been deployed to replace or
assist humans in many repetitive and dangerous tasks. Yet, these robots have complex …

This well-accepted introduction to computational geometry is a textbook for high-level
undergraduate and low-level graduate courses. The focus is on algorithms and hence the …

Planning algorithms are impacting technical disciplines and industries around the world,
including robotics, computer-aided design, manufacturing, computer graphics, aerospace …

This three-part paper presents an approach to the control of dynamic interaction between a
manipulator and its environment. Part I presented the theoretical reasoning behind …

Manipulation fundamentally requires a manipulator to be mechanically coupled to the object
being manipulated. A consideration of the physical constraints imposed by dynamic …

Before using interval analysis as a basic tool in the following chapters, we shall now
introduce its main concepts. Section 2.2 recalls fundamental notions on set operators, set …

An indispensable feature of an intelligent manipulator is its capability to quickly plan a short
and safe path in the presence of obstacles in its workspace. Among the path planning …

This chapter is devoted to the kinetostatics of robotic manipulators of the serial type, ie, to the
kinematics and statics of these systems. The study is general, but with regard to what is …

This paper presents algorithms for computing constraints on the position of an object due to
the presence of other objects. This problem arises in applications that require choosing how …