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.
General
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