ROBMOD: a geometry engine for robotics

Abstract

A geometric engine called ROBMOD is described that has been designed specifically for intelligent robotics applications. ROBMOD is usable both as a geometric modelling system, based on the constructive solid geometry paradigm, and as a geometry engine that can be interrogated by programs that are reasoning about space. ROBMOD is thus able to reduce the geometric sophistication required in such spatial reasoning programs.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>