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Foundations of Robotics Seminar, January 31, 2007
Time and Place | Seminar
Abstract | Speaker Appointments
Elements of Caging and an Introduction to the SToMP
project
Mathew Mason
NSH 1507
Refreshments 4:15 pm
Talk 4:30 pm
"Caging"
means arranging obstacles so that a mobile object is trapped. Formally we can say the mobile object must be
in a compact connected component of the free space. Alberto Rodriguez and I have been exploring
the problem by looking at very simple arrangements of obstacles, and
characterizing mobile object shapes in terms of caging. There are interesting connections to the
manhole cover problem, and the work on moving a chair through a door, and
ring-width by Chee Yap, Jacob Goodman, Janos Pach, and Gilbert Strang.
This will be an
informal talk on preliminary work. I
will also describe the new DARPA-supported SToMP project.
For
appointments, please contact Matt Mason.
The Robotics
Institute is part of the School of
Computer Science, Carnegie Mellon University.