Parameterization of configuration space obstacles in three-dimensional rotational motion planning

This work addresses motion planning challenges for robotics or computer graphics, but it appears incremental as it builds toward a more comprehensive description.

The study tackled the problem of describing the exact geometry of configuration space obstacles in 3D rotational motion planning by deriving a parameterization for triangulated or ball-approximated scenes, resulting in an important step toward a complete description of the configuration space structure.