In their recent article (2010), Levy and Liu introduced a generalization of Centroidal Voronoi Tessellation (CVT) namely the Lp-CVT that allows the computation of an anisotropic CVT over a sound mathematical framework. In this article a new objective function is defined, and both this function and its gradient are derived in closed-form for surfaces and volumes. This method opens a wide range o...

Multi-contact motion is important for humanoid robots to work in various environments. We propose a centroidal online trajectory generation and stabilization control dynamic multi-contact motion. The proposed method features the drastic reduction of computational cost by using preview instead conventional model predictive that considers constraints all sample times. By combining with state feed...

diagrams of set-theoretic solid models. 17] C. O'D unlaing and C. K. Yap. A \retraction" method for planning the motion of a disk.

Given a tesselation of the plane, defined by a planar straightline graph G, we want to find a minimal set S of points in the plane, such that the Voronoi diagram associated with S ‘fits’ G. This is the Generalized Inverse Voronoi Problem (GIVP), defined in [12] and rediscovered recently in [3]. Here we give an algorithm that solves this problem with a number of points that is linear in the size...

We study the combinatorial complexity of Voronoi diagram of point sites on a general triangulated 2-manifold surface, based on the geodesic metric. Given a triangulated 2-manifold T of n faces and a set of m point sites S = {s1, s2, · · · , sm} ∈ T , we prove that the complexity of Voronoi diagram VT (S) of S on T is O(mn) if the genus of T is zero. For a genus-g manifold T in which the samples...