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Introduction
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Spatial Reasoning for Robots:
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Contents
List of Figures
Scene Example for the ``Mover's Problem''
Space Filling Representations
Free Space Division Guided by Scene Features
Proximity Measurement in Terms of Boundary Expansion
Apparent Object Interpenetration at Coarse Levels of Detail
Vertex to Vertex Contact
Line Segment to Vertex Contact
Aligned Line Segments Contact
Overlapping Line Segments Contact
Large Line Segment to Small Line Segment Contact
Vertex to Convex Curve Contact
Vertex to Concave Curve Contact
Line Segment to Convex Curve Contact
Line Segment to Concave Curve Contact
Convex Curve to Convex Curve Contact
Concave Curve to Convex Curve Contact
Implementation of the EPB/PDO Representation
Scene for EPB/PDO Example (drawn to scale)
Alan Blackwell
2000-11-17