July 3-5, 1996
LAAS-CNRS, Toulouse, France
ETL, Tsukuba, Japan
On Motion Planning of Polyhedra in Contact
This talk studies motion planning of polyhedra in contact,
which is an instance of assembly planning. We describe an implemented
algebraic algorithm for motion planning of convex polyhedra in contact.
We also investigate the nonconvex case, and show several ideas and open