Line (geometry)
Related papers: 20
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In geometry, a **line** is a one-dimensional, infinitely extending straight figure defined by two points, characterized by properties such as direction, slope, and intersection with other geometric entities. In robotics and AI, lines serve as fundamental geometric primitives across a remarkably broad range of applications. Mobile robots extract line features from 2D laser rangefinder data to build compact map representations and support simultaneous localization and mapping (SLAM). Line-sweep decompositions enable efficient coverage path planning, while line-following strategies guide inspection robots traversing power transmission lines and other linear infrastructure. In computer vision and sensor fusion, algorithms detect and track line segments to interpret structured environments. Lines also appear in trajectory planning for manipulators, where cubic polynomial paths connect joint-space waypoints, and in the analysis of singular configurations of parallel manipulators using Grassmann geometry. Their importance stems from computational simplicity and expressive power: lines compress complex sensor data into lightweight representations, enable fast geometric reasoning, support formation control in multi-robot systems, and underpin the spatial reasoning that robots need to navigate, manipulate, and inspect the physical world reliably.
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Top Cited Papers
Hierarchical Mixtures of Experts and the EM Algorithm
Michael I. Jordan, Robert A. Jacobs
Citations: 2632 • 1994
On-Line Computational Scheme for Mechanical Manipulators
J.Y.S. Luh, Michael Walker, Richard P. Paul
Citations: 1574 • 1980
Singular Configurations of Parallel Manipulators and Grassmann Geometry
Jean‐Pierre Merlet
Citations: 554 • 1989
Singular configurations of parallel manipulators and grassmann geometry
Jean‐Pierre Merlet
Citations: 499 • 1989
A Probabilistic On-Line Mapping Algorithm for Teams of Mobile Robots
Sebastian Thrun
Citations: 488 • 2001
Formulation and optimization of cubic polynomial joint trajectories for industrial robots
Choun‐Sea Lin, P.-R. Chang, J. Luh
Citations: 483 • 1983
World modeling and position estimation for a mobile robot using ultrasonic ranging
James L. Crowley
Citations: 469 • 2003
On social laws for artificial agent societies: off-line design
Yoav Shoham, Moshe Tennenholtz
Citations: 467 • 1995
A “retraction” method for planning the motion of a disc
Colm Ó'Dúnlaing, Chee Yap
Citations: 408 • 1985
Spanning-tree based coverage of continuous areas by a mobile robot
Yoav Gabriely, Elon Rimon
Citations: 380 • 2001
Parameter identification of robot dynamics
Pradeep K. Khosla, Takeo Kanade
Citations: 375 • 1985
Adaptive linear controller for robotic manipulators
A.J. Koivo, Ten-Huei Guo
Citations: 332 • 1983
A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics
Văn Đức Nguyễn, Agostino Martinelli, N. Tomatis, Roland Siegwart
Citations: 324 • 2005
Optimal line-sweep-based decompositions for coverage algorithms
Wesley Huang
Citations: 312 • 2002
A Survey of Mobile Robots for Distribution Power Line Inspection
Jaka Katrašnik, Franjo Pernuš, Boštjan Likar
Citations: 309 • 2009
Design and fabrication of artificial lateral line flow sensors
Zhifang Fan, Jack Chen, Jun Zou, David Bullen, Chang Liu, Fred Delcomyn
Citations: 283 • 2002
Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells
Dingjiang Zhou, Zijian Wang, Saptarshi Bandyopadhyay, Mac Schwager
Citations: 279 • 2017
Distributed algorithms for formation of geometric patterns with many mobile robots
Kazuo Sugihara, I. Suzuki
Citations: 274 • 1996
PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments
Alessandro De Luca, Bruno Siciliano, Loredana Zollo
Citations: 274 • 2005
An automated system to mount cryo-cooled protein crystals on a synchrotron beamline, using compact sample cassettes and a small-scale robot
Aina E. Cohen, P.J. Ellis, Mitchell D. Miller, Ashley M. Deacon, R. P. Phizackerley
Citations: 262 • 2002