This paper presents a mesh-based geometric modeling method to create tessellated models of general structures, which can be the design results of conformal truss structure design, thermal design, topology design, material design, compliant mechanism design and others. A general structure configuration design format is proposed to describe the structures. A universal structure generating system ...

In this paper, we propose a symbolic-numerical algorithm for collision-free placement and motion of an object avoiding collisions with obstacles. The algorithm is based on the combination of configuration space and energy approaches. According to the configuration space approach, the position and orientation of the geometric object to be moved or placed is represented as an individual point in ...

This paper presents a method to recover the 3D configuration of a face in each frame of a video. The 3D configuration consists of the three translational parameters and the three orientation parameters which correspond to the yaw, pitch and roll of the face. Such information is important for applications like face modeling, recognition, expression analysis, etc. which require head stabilization...

This paper presents an approach to plan robust motion strategies of a robot navigating through an environment composed of polygonal obstacles subject to geometric uncertainty constraints. The contacts of the robot against the obstacles are used to reduce its position and orientation uncertainties and to guide the robot to its goal configuration. We describe a motion planner based on this approa...

A number of different interaction modalities have been proposed for human engagement with networked systems. In this paper, we establish formal guarantees for whether or not a given such human-swarm interaction (HSI) strategy is appropriate for achieving particular multi-robot tasks, such as guiding a swarm of robots into a particular geometric configuration. In doing so, we define what it mean...

This paper shows how to compute the nonholonomic distance between a point-wise car-like robot and polygonal obstacles. Geometric constructions to compute the shortest paths from a configuration (given orientation and position in the plane of the robot) to a position (i.e., a configuration with unspecified final orientation) are first presented. The geometric structure of the reachable set (set ...

GOKUL VARADHAN: Accurate Sampling-Based Algorithms for Surface Extraction and Motion Planning. (Under the direction of Dinesh Manocha.) Boolean operations, Minkowski sum evaluation, configuration space computation, and motion planning are fundamental problems in solid modeling and robotics. Their applications include computer-aided design, numerically-controlled machining, tolerance verificatio...

This paper investigates the synchronization behavior of a class of flocks modeled by the nearest neighbor rules. While connectivity of the associated dynamical neighbor graphs is crucial for synchronization, it is well known that the verification of such dynamical connectivity is the core of theoretical analysis. Ideally, conditions used for synchronization should be imposed on the model parame...

The main goal of this paper is to illustrate a geometric analysis of 3D facial shapes in presence of varying facial expressions using the nose region. This approach consists of the following two main steps: (i) Each nasal surface is automatically denoised and preprocessed to result in an indexed collection of nasal curves. During this step one detects the tip of the nose and defines a surface d...