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First published in 1987, the seven chapters that comprise this book review contemporary work on the geometric side of robotics. The first chapter defines the fundamental goal of robotics in very broad terms and outlines a research agenda each of whose items constitutes a substantial area for further research. The second chapter presents recently developed techniques that have begun to address the geometric side of this research agenda and the third reviews several applied geometric ideas central to contemporary work on the problem of motion planning. The use of Voronoi diagrams, a theme opened in these chapters, is explored further later in the book. The fourth chapter develops a theme in computational geometry having obvious significance for the simplification of practical robotics problems — the approximation or decomposition of complex geometric objects into simple ones. The final chapters treat two examples of a class of geometric ‘reconstruction’ problem that have immediate application to computer-aided geometric design systems.
Selected contributions to the Workshop WAFR 2002, held December 15-17, 2002, Nice, France. This fifth biannual Workshop on Algorithmic Foundations of Robotics focuses on algorithmic issues related to robotics and automation. The design and analysis of robot algorithms raises fundamental questions in computer science, computational geometry, mechanical modeling, operations research, control theory, and associated fields. The highly selective program highlights significant new results such as algorithmic models and complexity bounds. The validation of algorithms, design concepts, or techniques is the common thread running through this focused collection.
Since its genesis more than thirty-five years ago, the field of computer vision has been known by various names, including pattern recognitions, image analysis, and image understanding. The central problem of computer vision is obtaining descriptive information by computer analysis of images of a scene. Together with the related fields of image processing and computer graphics, it has become an established discipline at the interface between computer science and electrical engineering. This volume contains fourteen papers presented at the AMS Special Session on Geometry Related to Computer Vision, held in Hoboken, New Jersey in Ooctober 1989. This book makes the results presented at the Special Session, which previously had been available only in the computer science literature, more widely available within the mathematical sciences community. Geometry plays a major role in computer vision since scene descriptions always involve geometrical properties of, and relations among, the objects of surfaces in the scene. The papers in this book provide a good sampling of geometric problems connected with computer vision. They deal with digital lines and curves, polygons, shape decompositions, digital connectedness and surfaces, digital metrics, and generalizations to higher-dimensional and graph-structured "spaces". Aimed at computer scientists specializing in image processing, computer vision, and pattern recognition - as well as mathematicians interested in applications to computer science - this book will provide readers with a view of how geometry is currently being applied to problems in computer vision.
This is the revised and expanded 1998 edition of a popular introduction to the design and implementation of geometry algorithms arising in areas such as computer graphics, robotics, and engineering design. The basic techniques used in computational geometry are all covered: polygon triangulations, convex hulls, Voronoi diagrams, arrangements, geometric searching, and motion planning. The self-contained treatment presumes only an elementary knowledge of mathematics, but reaches topics on the frontier of current research, making it a useful reference for practitioners at all levels. The second edition contains material on several new topics, such as randomized algorithms for polygon triangulation, planar point location, 3D convex hull construction, intersection algorithms for ray-segment and ray-triangle, and point-in-polyhedron. The code in this edition is significantly improved from the first edition (more efficient and more robust), and four new routines are included. Java versions for this new edition are also available. All code is accessible from the book's Web site (http://cs.smith.edu/~orourke/) or by anonymous ftp.
This book constitutes the refereed proceedings of the 16th IAPR International Conference on Discrete Geometry for Computer Imagery, DGCI 2011, held in Nancy, France, in April 2011. The 20 revised full papers and 20 revised poster papers presented together with 3 invited lectures were carefully reviewed and selected from numerous submissions. The papers are organized in topical sections on models for discrete geometry, discrete and combinatorial topology, geometric transforms, discrete shape representation, recognition and analysis, discrete tomography, morphological analysis, as well as discrete and combinatorial tools for image segmentation and analysis.
Intended for both researchers and practitioners, this book will be a valuable resource for studying and applying recent robust statistical methods. It contains up-to-date research results in the theory of robust statistics Treats computational aspects and algorithms and shows interesting and new applications.
Computational Geometry is an area that provides solutions to geometric problems which arise in applications including Geographic Information Systems, Robotics and Computer Graphics. This Handbook provides an overview of key concepts and results in Computational Geometry. It may serve as a reference and study guide to the field. Not only the most advanced methods or solutions are described, but also many alternate ways of looking at problems and how to solve them.
One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.
Contains 130 papers, which were selected based on originality, technical contribution, and relevance. Although the papers were not formally refereed, every attempt was made to verify the main claims. It is expected that most will appear in more complete form in scientific journals. The proceedings also includes the paper presented by invited plenary speaker Ronald Graham, as well as a portion of the papers presented by invited plenary speakers Udi Manber and Christos Papadimitriou.
This book presents hardware-efficient algorithms and FPGA implementations for two robotic tasks, namely exploration and landmark determination. The work identifies scenarios for mobile robotics where parallel processing and selective shutdown offered by FPGAs are invaluable. The book proceeds to systematically develop memory-driven VLSI architectures for both the tasks. The architectures are ported to a low-cost FPGA with a fairly small number of system gates.