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Exact minkowski sums and applications

Published: 05 June 2002 Publication History

Abstract

(MATH) The Minkowski sum of two sets P and Q in $\realsd is the set (p+q \mid p Ε P, q Ε Q). Minkowski sums are useful in robot motion planning, computer-aided design and manufacturing (CAD/CAM) and many other areas. In this video we present a software package implemented at Tel Aviv University for the exact and efficient construction of Minkowski sums of planar sets. We also explain and demonstrate how Minkowski sums are used in various applications.

References

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P. K. Agarwal, E. Flato, and D. Halperin. Polygon decomposition for efficient construction of Minkowski sums. Comput. Geom. Theory Appl., 21:39--61, 2002.]]
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G. Elber and M.-S. Kim, editors. Special Issue of Computer Aided Design: Offsets, Sweeps and Minkowski Sums, volume 31. 1999.]]
[3]
E. Flato. Robust and efficient construction of planar Minkowski sums. Master's thesis, Dept. Comput. Sci., Tel-Aviv Univ., 2000. http://www.cs.tau.ac.il/~flato.]]
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E. Flato, D. Halperin, I. Hanniel, O. Nechushtan, and E. Ezra. The design and implementation of planar maps in CGAL. The ACM Journal of Experimental Algorithmics, 5, 2000. Also in LNCS Vol. 1668 (WAE '99), Springer, pp. 154--168.]]
[5]
D. Halperin. Robust geometric computing in motion. In B. Donald, K. Lynch, and D. Rus, editors, Algorithmic and Computational Robotics: New Dimensions (WAFR '00), pages 9--22. A. K. Peters, Wellesley, MA, 2001. To appear in International Journal of Robotics Research.]]
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D. Halperin, J.-C. Latombe, and R. H. Wilson. A general framework for assembly planning: The motion space approach. Algorithmica, 26:577--601, 2000.]]
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I. Hanniel and D. Halperin. Two-dimensional arrangements in CGAL and adaptive point location for parametric curves. In Proc. of the 4th Workshop of Algorithm Engineering, volume 1982 of Lecture Notes Comput. Sci., pages 171--182. Springer-Verlag, 2000.]]
[8]
J.-C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, Boston, 1991.]]
[9]
K. Melhorn and S. Näher. The LEDA Platform of Combinatorial and Geometric Computing. Cambridge University Press, 1999.]]

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cover image ACM Conferences
SCG '02: Proceedings of the eighteenth annual symposium on Computational geometry
June 2002
330 pages
ISBN:1581135041
DOI:10.1145/513400
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

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Published: 05 June 2002

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Author Tags

  1. Minkowski sums
  2. arrangements
  3. geometric software
  4. motion planning
  5. robustness and precision

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SCG '02 Paper Acceptance Rate 35 of 104 submissions, 34%;
Overall Acceptance Rate 625 of 1,685 submissions, 37%

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