Curve and Surface Reconstruction Algorithms with Mathematical Analysis

類似書籍推薦給您

Many applications in science and engineering require a digital model of a real physical object. Advanced scanning technology has made it possible to scan such objects and generate point samples on their boundaries. This book, first published in 2007, shows how to compute a digital model from this point sample. After developing the basics of sampling theory and its connections to various geometric and topological properties, the author describes a suite of algorithms that have been designed for the reconstruction problem, including algorithms for surface reconstruction from dense samples, from samples that are not adequately dense and from noisy samples. Voronoi- and Delaunay-based techniques, implicit surface-based methods and Morse theory-based methods are covered. Scientists and engineers working in drug design, medical imaging, CAD, GIS, and many other areas will benefit from this first book on the subject.

Distributed Control of Robotic Networks a Mathematical Approach to Motion Coordination Algorithms

類似書籍推薦給您

This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities — a model that in turn leads to a common formal language to describe and analyze coordination algorithms. Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises. Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation