This article presents a novel method for exactly reformulating nondifferentiable collision
avoidance constraints into smooth, differentiable constraints using strong duality of convex …

Collision detection is of paramount importance for many applications in computer graphics
and visualization. Typically, the input to a collision detection algorithm is a large number of …

A probabilistic roadmap is a network of simple paths connecting collision-free configurations
obtained by sampling a robot's configuration space at random. Several probabilistic …

In a geometric context, a collision or proximity query reports information about the relative
configuration or placement of two objects. Some of the common examples of such queries …

Although there are many advanced and specialized texts and handbooks on algorithms,
until now there was no book that focused exclusively on the wide variety of data structures …

An input design method is presented for guaranteeing the diagnosability of faults from the
outputs of a system. Faults are modeled by discrete switches between linear models with …

In this paper we present a new heuristic solution method for two-dimensional nesting
problems. It is based on a simple local search scheme in which the neighborhood is any …

The nesting problem is commonly encountered in sheet metal, clothing and shoe-making
industries. The nesting problem is a combinatorial optimization problem in which a given set …

We present an algorithm to approximate the 3D Minkowski sum of polyhedral objects. Our
algorithm decomposes the polyhedral objects into convex pieces, generates pairwise …

We describe a new technique for graph layout subject to constraints. Compared to previous
techniques the proposed method is much faster and scalable to much larger graphs. For a …