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  • John F. Canny
  • 1986
This paper describes a computational approach to edge detection. The success of the approach depends on the definition of a comprehensive set of goals for the computation of edge points. These goals must be precise enough to delimit the desired behavior of the detector while making minimal assumptions about the form of the solution. We define detection and(More)
In this paper we will address the problem of planning optimal grasps. Two general optimality criteria, that consider the total finger force and the maximum finger force will be introduced and discussed. Moreover their formalization, using various metrics on a space of generalized forces, will be detailed. The geometric interpretation of the two criteria(More)
We give a PSPACE algorithm for determining the signs of multivariate polynomials at the common zeros of a system of polynomial equations. One of the consequences of this result is that the “Generalized Movers' Problem” in robotics drops from EXPTIME into PSPACE, and is therefore PSPACE-complete by a previous hardness result [Rei]. We also show(More)
We present new techniques for establishing lower bounds in robot motion planning problems. Our scheme is based on path encoding and uses homotopy equivalence classes of paths to encode state. We first apply the method to the shortest path problem in 3 dimensions. The problem is to find the shortest path under an Lp metric (e.g. a euclidean metric) between(More)
Server-based collaborative filtering systems have been very successful in e-commerce and in direct recommendation applications. In future, they have many potential applications in ubiquitous computing settings. But today's schemes have problems such as loss of privacy, favoring retail monopolies, and with hampering diffusion of innovations. We propose an(More)
At the intersection of robotics, computational geometry, and manufacturing engineering, we have identified a collection of research problems with near-term industrial applications. The common thread is robot systems with Reduced Intricacy in Sensing and Control (RISC), such as light beam sensors and parallel-jaw grippers. We conjecture that such systems,(More)
Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we m ust nd a minimal-time trajectory that goes from a start position and velocity t o a goal position and velocity while avoiding obstacles by a safety margin and respecting constraints on(More)