From quadrotors delivering packages in urban areas to robot arms moving in confined
warehouses, motion planning around obstacles is a core challenge in modern robotics …

This paper surveys mesh segmentation techniques and algorithms, with a focus on part‐
based segmentation, that is, segmentation that divides a mesh (featuring a 3D object) into …

This paper describes a collection of optimization algorithms for achieving dynamic planning,
control, and state estimation for a bipedal robot designed to operate reliably in complex …

This newly expanded and updated second edition of the best-selling classic continues to
take the" mystery" out of designing algorithms, and analyzing their efficacy and efficiency …

This paper presents iris (Iterative Regional Inflation by Semidefinite programming), a new
method for quickly computing large polytopic and ellipsoidal regions of obstacle-free space …

Mesh partitioning and skeletonisation are fundamental for many computer graphics and
animation techniques. Because of the close link between an object's skeleton and its …

We present a fast algorithm for the design of smooth paths (or trajectories) that are
constrained to lie in a collection of axis-aligned boxes. We consider the case where the …

We review the computation of 3D geometric data map**, which establishes one-to-one
correspondence between or among spatial/spatiotemporal objects. Effective map** …

In this paper, we propose a general framework for constructing IGA-suitable planar B-spline
parameterizations from given complex CAD boundaries. Instead of the computational …

In this article, a system to detect rooms in architectural floor plan images is described. We
first present a primitive extraction algorithm for line detection. It is based on an original …