Distance geometry in active structures

The final publication is available at link.springer.comDistance constraints are an emerging formulation that offers intuitive geometrical interpretation of otherwise complex problems. The formulation can be applied in problems such as position and singularity analysis and path planning of mechanisms and structures. This paper reviews the recent advances in distance geometry, providing a unified view of these apparently disparate problems. This survey reviews algebraic and numerical techniques, and is, to the best of our knowledge, the first attempt to summarize the different approaches relating to distance-based formulations.Peer ReviewedPostprint (author's final draft

An approach to the movers' problem that combines oriented matroid theory and algebraic geometry

IEEE International Conference on Robotics and Automation(ICRA), 1995, Nagoya, JapanThis paper investigates the partition of the configuration space induced by basic contacts between polyhedra, using their combinatorial interpretation in terms of oriented matroids. It is shown that solving motion planning problems using this cellular decomposition can be analytically expressed in terms of invariants, without explicit use of artificial coordinate frames. One of the main aims of this paper is to draw the attention of the reader to some results from the theory of matroids which are directly applicable to path planning, and many other geometric problems arising in robotics. In particular, the relevance of the concept of mutation in the context of collision-free path planning is highlighted. Moreover, it is proved that the set of mutations contains the walls of a given cell in configuration space, and that this set, as one moves from one cell to a neighbor one, can be updated in linear time with the number of vertices. This provides a simple way to detect a large amount of redundant constraints from purely combinatorial considerations, without relying on the manipulation of algebraic equationsPeer Reviewe

LIPIcs, Volume 248, ISAAC 2022, Complete Volume

LIPIcs, Volume 248, ISAAC 2022, Complete Volum

Graduate School: Course Decriptions, 1972-73

Official publication of Cornell University V.64 1972/7

LIPIcs, Volume 258, SoCG 2023, Complete Volume

LIPIcs, Volume 258, SoCG 2023, Complete Volum

College of Engineering, 1971-72

Official publication of Cornell University V.63 1971/7

Management: A continuing bibliography with indexes, March 1983

This bibliography lists 960 reports, articles, and other documents introduced into the NASA scientific and technical information system in 1982