The power of geometric duality
BIT - Ellis Horwood series in artificial intelligence
Computational geometry: an introduction
Computational geometry: an introduction
Algorithms in combinatorial geometry
Algorithms in combinatorial geometry
Separating two simple polygons by a sequence of translations
Discrete & Computational Geometry
SCG '88 Proceedings of the fourth annual symposium on Computational geometry
On monotone paths among obstacles with applications to planning assemblies
SCG '89 Proceedings of the fifth annual symposium on Computational geometry
Computing exact aspect graphs of curved objects: solid of revolution
International Journal of Computer Vision
Qualitative reasoning about physical systems: a return to roots
Artificial Intelligence - Special issue: Qualitative reasoning about physical systems II
Artificial Intelligence - Special issue: Qualitative reasoning about physical systems II
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
On geometric assembly planning
On geometric assembly planning
Robot Motion Planning
Task sequence planning for robotic assembly
Task sequence planning for robotic assembly
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
| Hi-index | 0.00 |
A mechanical assembly is usually described by the geometry of its parts and the spatial relations defining their positions. This model does not directly provide the information needed to reason about assembly and disassembly motions. We propose another representation, the non-directional blocking graph, which describes the qualitative internal structure of the assembly. This representation makes explicit how the parts prevent each other from being moved in every possible direction of motion. It derives from the observation that the infinite set of motion directions can be partitioned into a finite arrangement of subsets such that over each subset the interferences among the parts remain qualitatively the same. We describe how this structure can be efficiently computed from the geometric model of the assembly. The (dis)assembly motions considered include infinitesimal and extended translations in two and three dimensions, and infinitesimal rigid motions.