Presents algebraic and geometric algorithms to deal with a specific
problem, which frequently occurs in model-based robotics systems
and is of utmost importance in calibrating the complexity of
robotics tasks in general. The algorithms are based on several
ideas from areas such as elimination theory, optimization,
polyhedral theory and Voronoi diagrams. The algorithms were also
implemented in a Lisp in a workbench to allow experimentation with
shortest path problems.
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