An Approach to Geometric Reasoning in Robotics
Journal Article, IEEE Transactions on Aerospace and Electronic Systems, Vol. 24, No. 5, pp. 630 - 646, September, 1988
Abstract
Anticipating the use of knowledge-based expert systems for robot task planning, a geometric reasoning is envisioned for the representation and manipulation of geometric information in a manner uniform with other knowledge. The general requirements for such a reasoner are outlined and a proposed architecture is described, built on four concepts: a class structure of spatial sets, features as subsets of those spatial sets, geometric abstractions as partial representations of features, and constraints as a mechanism for reasoning. An example implementation is built in an object-oriented environment and uses an underlying solids modeler, transparent to the end user.
BibTeX
@article{Woodbury-1988-15426,author = {R. F. Woodbury and},
title = {An Approach to Geometric Reasoning in Robotics},
journal = {IEEE Transactions on Aerospace and Electronic Systems},
year = {1988},
month = {September},
volume = {24},
number = {5},
pages = {630 - 646},
}
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