Output-Sensitive Computation of All Form-Closure Grasps of a Semi-Algebraic Set

Author(s):  
Jae-Sook Cheong ◽  
A.F. van der Stappen
Keyword(s):  
1994 ◽  
Vol 1 (3) ◽  
pp. 277-286
Author(s):  
G. Khimshiashvili

Abstract It is shown that the cardinality of a finite semi-algebraic subset over a real closed field can be computed in terms of signatures of effectively constructed quadratic forms.


Author(s):  
Matteo Tacchi ◽  
Tillmann Weisser ◽  
Jean Bernard Lasserre ◽  
Didier Henrion

2021 ◽  
Vol 52 (4) ◽  
pp. 367-378
Author(s):  
S. Wurzbacher ◽  
S. Gach ◽  
U. Reisgen ◽  
C. Hopmann
Keyword(s):  

2011 ◽  
Vol 215 (8) ◽  
pp. 1844-1851 ◽  
Author(s):  
Daniel J. Bates ◽  
Chris Peterson ◽  
Andrew J. Sommese ◽  
Charles W. Wampler

2009 ◽  
Vol 52 (2) ◽  
pp. 224-236
Author(s):  
Riccardo Ghiloni

AbstractLetRbe a real closed field, letX⊂Rnbe an irreducible real algebraic set and letZbe an algebraic subset ofXof codimension ≥ 2. Dubois and Efroymson proved the existence of an irreducible algebraic subset ofXof codimension 1 containingZ. We improve this dimension theorem as follows. Indicate by μ the minimum integer such that the ideal of polynomials inR[x1, … ,xn] vanishing onZcan be generated by polynomials of degree ≤ μ. We prove the following two results: (1) There exists a polynomialP∈R[x1, … ,xn] of degree≤ μ+1 such thatX∩P–1(0) is an irreducible algebraic subset ofXof codimension 1 containingZ. (2) LetFbe a polynomial inR[x1, … ,xn] of degreedvanishing onZ. Suppose there exists a nonsingular pointxofXsuch thatF(x) = 0 and the differential atxof the restriction ofFtoXis nonzero. Then there exists a polynomialG∈R[x1, … ,xn] of degree ≤ max﹛d, μ + 1﹜ such that, for eacht∈ (–1, 1) \ ﹛0﹜, the set ﹛x∈X|F(x) +tG(x) = 0﹜ is an irreducible algebraic subset ofXof codimension 1 containingZ. Result (1) and a slightly different version of result (2) are valid over any algebraically closed field also.


Author(s):  
Pankaj Sharma ◽  
Anupam Saxena ◽  
Ashish Dutta

The study of multi-agent capture and manipulation of an object has been an area of active interest for many researchers. This paper presents a novel approach using Genetic Algorithm to determine the optimal contact points and the total number of agents (mobile robots) required to capture a stationary generic 2D polygonal object. After the goal points are determined the agents then reach their respective goals using a decentralized projective path planning algorithm. Form closure of the object is obtained using the concept of accessibility angle. The object boundary is first expanded and the robots reach the expanded object goal points and then converge on the actual object. This ensures that the agents reach the actual goal points at the same time and have the correct orientation. Frictionless point contact between the object and robots is assumed. The shape of the robot is considered a circle such that it can only apply force in outward radial direction from its center and along the normal to the object boundary at the contact point. Simulations results are presented that prove the effectiveness of the proposed method.


2014 ◽  
Vol 57 (7) ◽  
pp. 1401-1410 ◽  
Author(s):  
YouLun Xiong ◽  
Tao Xiong ◽  
YuHui Wang

1992 ◽  
Vol 44 (6) ◽  
pp. 1262-1271 ◽  
Author(s):  
Murray Marshall

AbstractThe results obtained extend Madden’s result for Dedekind domains to more general types of 1-dimensional Noetherian rings. In particular, these results apply to piecewise polynomial functions t:C → R where R is a real closed field and C ⊆ Rn is a closed 1-dimensional semi-algebraic set, and also to the associated “relative” case where t, C are defined over some subfield K ⊆ R.


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