Motion planning of objects in contact by the silhouette algorithm
Hirohisa Hirukawa, Yves Papegay · 2002
Describes motion planning of objects in contact by the silhouette algorithm. The problem is formulated to meet the pre-requisites of the silhouette algorithm, and numeric-symbolic algebraic algorithms are given to solve it. As an example, we have been implementing the algorithm for motion planning of polygons in contact, but it can be extended to that of polyhedra in contact.