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Relevant bibliographies by topics / 3D Motion / Dissertations / Theses

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Dissertations / Theses on the topic '3D Motion'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Deutscher, Jonathan A. J. "3D human motion capture." Thesis, University of Oxford, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.393478.

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2

Karlsson, Daniel. "Human Motion Tracking Using 3D Camera." Thesis, Linköping University, Department of Electrical Engineering, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-54426.

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<p>The interest in video surveillance has increased in recent years. Cameras are now installed in e.g. stores, arenas and prisons. The video data is analyzed to detect abnormal or undesirable events such as thefts, fights and escapes. At the Informatics Unit at the division of Information Systems, FOI in Linköping, algorithms are developed for automatic detection and tracking of humans in video data. This thesis deals with the target tracking problem when a 3D camera is used. A 3D camera creates images whose pixels represent the ranges to the scene. In recent years, new camera systems have eme

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3

Park, Jinha. "Collective Motion in 3D and Hysteresis." Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-156424.

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Many animal groups in nature exhibit collective motion, such as bird flocks and fish schools. The group's internal motion is complex and dynamic, but the group moves cohesively in the same direction. The mechanism behind this collective motion has been studied with various ways. Mathematical modeling provides powerful tools to study this. In particular, individual based, self-propelled particle (SPP) models are among the most popular. Several SPP models have been developed using different local interaction rules between each individual and its neighbours. Among them, the local attraction model

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4

Carranca, Ricardo Luís d'Abreu Fernandes. "3D motion control with axis interpolation." Master's thesis, Universidade de Aveiro, 2012. http://hdl.handle.net/10773/10103.

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Mestrado em Engenharia Mecânica<br>Há alguns anos que a automação e controlo entraram no mundo do entretenimento. A evidenciar este facto, tem-se assistido nos últimos anos a um aumento de soluções e inovações nesta área. Tal desafio resulta em grande parte, da exigência dos espetadores, com uma cada vez maior componente emocional, que deriva da transposição para a indústria do espetáculo, de façanhas extraordinárias, por exemplo com personagens importados do universo de heróis da banda desenhada. Este campo de criatividade, com efeitos visuais, tem aplicações no teatro, cinema ou conc

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5

Benedikt, Lanthao. "Using 3d Facial Motion for Biometric Identification." Thesis, Cardiff University, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.523527.

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6

Maclean, Craig David. "Analytical motion planning on 3D-Lie groups." Thesis, University of Strathclyde, 2014. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=24388.

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In this thesis optimal analytical controls derived using the framework of geometric control theory are used to plan motions for real engineering systems, and their performance assessed. Beginning with the nonholonomic wheeled robot on the 3-D Special Euclidean group, the co-ordinate free Maximum Principle of optimal control is used to create a kinematic motion planner via parametric optimisation. The reachable sets of the planner are investigated, and an obstacle avoidance framework is created and demonstrated. The practical applicability of this motion planner is assessed in both the unit spe

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7

Clift, Louis G. "Robotic 3D reconstruction utilising structure from motion." Thesis, University of Essex, 2017. http://repository.essex.ac.uk/20734/.

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Sensing the real-world is a well-established and continual problem in the field of robotics. Investigations into autonomous aerial and underwater vehicles have extended this challenge into sensing, mapping and localising in three dimensions. This thesis seeks to understand and tackle the challenges of recovering 3D information from an environment using vision alone. There is a well-established literature on the principles of doing this, and some impressive demonstrations; but this thesis explores the practicality of doing vision-based 3D reconstruction using multiple, mobile robotic platforms,

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8

Lupínek, Dalibor. "Zachycení pohybu postavy ve 3D prostoru." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2009. http://www.nusl.cz/ntk/nusl-236769.

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This paper deals with techniques for acquiring data for character animation driven from video. Among other, it also presents several Motion Capture systems and animation data formats BVH and CSM. It also contains an example application demonstrating attained accomplishments. These are reviewed and there is instituted a course of future proceeding.

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9

Ntawiniga, Frédéric. "Head Motion Tracking in 3D Space for Drivers." Thesis, Université Laval, 2008. http://www.theses.ulaval.ca/2008/25229/25229.pdf.

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Ce travail présente un système de vision par ordinateur capable de faire un suivi du mouvement en 3D de la tête d’une personne dans le cadre de la conduite automobile. Ce système de vision par ordinateur a été conçu pour faire partie d'un système intégré d’analyse du comportement des conducteurs tout en remplaçant des équipements et des accessoires coûteux, qui sont utilisés pour faire le suivi du mouvement de la tête, mais sont souvent encombrants pour le conducteur. Le fonctionnement du système est divisé en quatre étapes : l'acquisition d'images, la détection de la tête, l’extraction des tr

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10

Muck, Kin Ling. "Motion planning in 2D and 3D with rotation." Thesis, Imperial College London, 1989. http://hdl.handle.net/10044/1/47579.

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11

DiFranco, David Edward 1977. "Recovery of 3D articulated motion from 2D correspondences." Thesis, Massachusetts Institute of Technology, 2000. http://hdl.handle.net/1721.1/9082.

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Thesis (S.B. and M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2000.<br>Includes bibliographical references (p. 71-73).<br>Recovering the 3D motion of the human body is an important problem in computer vision. Applications that would benefit from 3D motion include physical therapy, computer user interfaces, and 3D animation. Unfortunately, recovering 3D position from one 2D camera is an inherently ill-posed problem. This thesis focuses on recovery of 3D motion of an articulated model using 2D correspondences from an existing 2D tracker. A

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12

Sabiston, Walter Roberts. "Extracting 3D motion from hand-drawn animated figures." Thesis, Massachusetts Institute of Technology, 1991. http://hdl.handle.net/1721.1/13913.

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13

Tutar, Mustafa. "Simplified techniques for motion entourage in 3D animation /." free to MU campus, to others for purchase, 2004. http://wwwlib.umi.com/cr/mo/fullcit?p1422972.

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14

Song, Won Chan. "Speed-line for 3D animation." Texas A&M University, 2005. http://hdl.handle.net/1969.1/4730.

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My thesis describes a tool which creates speed-lines automatically in 3D computer animations. Speed-lines are usually used in comic books to express fast motions in a still image. They are also used in 2D animations. Although animations don't need speed-lines for motions, they are interesting graphic elements and give more sense of speed to the audience. However, speed-lines are not used in the 3D computer animation, so I have implemented the graphic element into the 3D computer animation. The combination of the 2D-looking speed-lines and the 3D computer animations makes a unique look that som

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15

Gupta, Ankur. "Using unlabeled 3D motion examples for human activity understanding." Thesis, University of British Columbia, 2016. http://hdl.handle.net/2429/58437.

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We demonstrate how a large collection of unlabeled motion examples can help us in understanding human activities in a video. Recognizing human activity in monocular videos is a central problem in computer vision with wide-ranging applications in robotics, sports analysis, and healthcare. Obtaining annotated data to learn from videos in a supervised manner is tedious, time-consuming, and not scalable to a large number of human actions. To address these issues, we propose an unsupervised, data-driven approach that only relies on 3d motion examples in the form of human motion capture sequences.

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Zhong, Huang. "3D metric reconstruction from uncalibrated circular motion image sequences." Click to view the E-thesis via HKUTO, 2006. http://sunzi.lib.hku.hk/hkuto/record/B37043791.

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Stoyanov, Danail Valentinov. "Recovering 3D structure and motion in robotic laparoscopic surgery." Thesis, Imperial College London, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.430137.

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Md, Zain Badrul Aisham. "Modelling and control of flexible manipulators in 3D motion." Thesis, University of Sheffield, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.557120.

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This thesis presents investigations into modelling and control of flexible manipulators in 3D motion. A finite difference (FD) simulation environment characterising a single-link manipulator in horizontal plane motion and corresponding experimental rig is considered as test bed in this work. The dynamic model of the system is derived using the Lagrange equation and discretised using the FD method. Mathematical models are developed based on physical laws and first principles to represent the dynamics of a physical system well. The simulation algorithm is extended by deriving mathematical model

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Zhong, Huang, and 鐘煌. "3D metric reconstruction from uncalibrated circular motion image sequences." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2006. http://hub.hku.hk/bib/B37043791.

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20

Assalih, Hassan. "3D reconstruction and motion estimation using forward looking sonar." Thesis, Heriot-Watt University, 2013. http://hdl.handle.net/10399/2647.

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Autonomous Underwater Vehicles (AUVs) are increasingly used in different domains including archaeology, oil and gas industry, coral reef monitoring, harbour’s security, and mine countermeasure missions. As electromagnetic signals do not penetrate underwater environment, GPS signals cannot be used for AUV navigation, and optical cameras have very short range underwater which limits their use in most underwater environments. Motion estimation for AUVs is a critical requirement for successful vehicle recovery and meaningful data collection. Classical inertial sensors, usually used for AUV motion

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21

Lee, Young Jin. "Real-Time Object Motion and 3D Localization from Geometry." The Ohio State University, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=osu1408443773.

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22

Clark, Liam James. "Markerless 3D Motion Capture of Cheetahs in the Wild." Master's thesis, Faculty of Engineering and the Built Environment, 2021. http://hdl.handle.net/11427/33599.

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3D motion-capture is essential for research in biomechanics and biomedical engineering. It can provide insight into performance and injury prevention in sport, diagnosis of illnesses and disorders as well as help biologists to study animals and help engineers to design bio-inspired robots. Researchers studying animal locomotion often study humans and dogs due to the difficulty associated with studying other animals; however, the cheetah (Acinonyx jubatus) is a particularly compelling animal to study due to its various cursorial adaptions. In recent years, there have been significant improvemen

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23

Dewan, Ayush [Verfasser], and Wolfram [Akademischer Betreuer] Burgard. "Leveraging motion and semantic cues for 3D scene understanding." Freiburg : Universität, 2020. http://d-nb.info/1215499493/34.

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24

Kulkarni, Amey S. "Motion Segmentation for Autonomous Robots Using 3D Point Cloud Data." Digital WPI, 2020. https://digitalcommons.wpi.edu/etd-theses/1370.

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Achieving robot autonomy is an extremely challenging task and it starts with developing algorithms that help the robot understand how humans perceive the environment around them. Once the robot understands how to make sense of its environment, it is easy to make efficient decisions about safe movement. It is hard for robots to perform tasks that come naturally to humans like understanding signboards, classifying traffic lights, planning path around dynamic obstacles, etc. In this work, we take up one such challenge of motion segmentation using Light Detection and Ranging (LiDAR) point clouds.

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25

Zucchelli, Marco. "Optical Flow Based Structure from Motion." Doctoral thesis, KTH, Numerical Analysis and Computer Science, NADA, 2002. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3377.

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26

Manandhar, Sandeep. "3D motion estimation and assessment in fluorescence microscopy volume sequences." Thesis, Rennes 1, 2019. http://www.theses.fr/2019REN1S096.

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Ce travail de thèse porte sur l’estimation et l'évaluation de champs de vitesse 3D dans des séquences d'images 3D de microscopie à fluorescence. Nous nous sommes intéressés aux méthodes de mise en correspondance et aux méthodes variationnelles pour l'estimation du mouvement entre volumes 3D de la séquence. Pour l'appariement, nous avons développé deux extensions 3D originales de PatchMatch, les deux incorporant une mesure de similarité exploitant la signature de Census discrète : une méthode exploitant les super-pixels et qui procède couche par couche dans le volume, et une méthode multi-résol

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27

Kumar, Mithilesh. "A Motion Graph Approach for Interactive 3D Animation using Low-cost Sensors." Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/34168.

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Interactive 3D animation of human figures is very common in video games, animation studios and virtual environments. However, it is difficult to produce full body animation that looks realistic enough to be comparable to studio quality human motion data. The commercial motion capture systems are expensive and not suitable for capture in everyday environments. Real-time requirements tend to reduce quality of animation. We present a motion graph based framework to produce high quality motion sequences in real-time using a set of inertial sensor based controllers. The user's action generates sign

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28

Gong, Wenjuan. "3D Motion Data aided Human Action Recognition and Pose Estimation." Doctoral thesis, Universitat Autònoma de Barcelona, 2013. http://hdl.handle.net/10803/116189.

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En aquest treball s’explora el reconeixement d’accions humanes i l'estimació de la seva postura en seqüències d'imatges. A diferència de les tècniques tradicionals d’aprenentatge a partir d’imatges 2D o vídeo amb la sortida anotada, en aquesta Tesi abordem aquest objectiu amb la informació de moviment 3D capturat, que ens ajudar a tancar el llaç entre les característiques 2D de la imatge i les interpretacions sobre el moviment humà.<br>En este trabajo se exploran el reconocimiento de acciones humanas y la estimación de su postura en secuencias de imágenes. A diferencia de las técnicas tradicio

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Li, Yan. "3D reconstruction and camera calibration from circular-motion image sequences." Click to view the E-thesis via HKUTO, 2005. http://sunzi.lib.hku.hk/hkuto/record/B36365919.

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30

Zhang, Chunxiao. "Estimation of 3D human motion kinematics model from multiple cameras." Thesis, University of Central Lancashire, 2009. http://clok.uclan.ac.uk/19932/.

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Estimation of articulated human motion based on video sequences acquired from multiple synchronised cameras is an active and challenging research area. This is mainly due to the need of high dimensional non-linear models to describe the human motion, cluttered data, and occlusions present in the captured images. Although many diverse techniques have been proposed to solve this problem, none of the existing solutions is fully satisfactory. In this thesis, upper body motion tracking and full body motion tracking based on the annealed particle filter (APP) approach are presented. To successfully

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31

D, M. BAPPY, and MD HAMIDUR RAHMAN. "A Study in 3D Structure Detection Implementing Forward Camera Motion." Thesis, Blekinge Tekniska Högskola, Sektionen för ingenjörsvetenskap, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-2002.

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In this thesis we have studied detection of 3D structures having a forward camera movement which has strong influence of translation along the optical axis of the camera. During the forward movement the camera might undergoes rotation and translation .We have used “Plane plus Parallax” algorithm to cancel out this unwanted rotation. The input to the algorithm is a sequence of frames aligned with respect to a certain planar surface. The algorithm gives three types of outputs. (i) Dense correspondence across all frames. (ii) Dense 3D structure relative to the planar surface. (ii) Focus of Expans

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Huang, Peng. "Surface motion graphs for 3D video based animation of people." Thesis, University of Surrey, 2009. http://epubs.surrey.ac.uk/804410/.

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33

Thayananthan, Arasanathan. "Template-based pose estimation and tracking of 3D hand motion." Thesis, University of Cambridge, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.613782.

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34

Liu, Yong. "View synthesis for depth from motion 3D X-ray imaging." Thesis, Nottingham Trent University, 2009. http://irep.ntu.ac.uk/id/eprint/159/.

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The depth from motion or kinetic depth X-ray imaging (KDEX) technique is designed to enhance the luggage screening at airport checkpoints. The technique requires multiple views of the luggage to be obtained from an arrangement of linear X-ray detector arrays. This research investigated a solution to the unique problems defined when considering the possibility of replacing some of the X-ray sensor views with synthetic images. If sufficiently high quality synthetic images can be generated then intermediary X-ray sensors can be removed to minimise the hardware requirements and improve the commerc

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35

Dagnes, Nicole. "3D human face analysis for recognition applications and motion capture." Thesis, Compiègne, 2020. http://www.theses.fr/2020COMP2542.

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Cette thèse se propose comme une étude géométrique de la surface faciale en 3D, dont le but est de fournir un ensemble d'entités, issues du contexte de la géométrie différentielle, à utiliser comme descripteurs faciaux dans les applications d'analyse du visage, comme la reconnaissance faciale et la reconnaissance des expressions faciales. En effet, bien que chaque visage soit unique, tous les visages sont similaires et leurs caractéristiques morphologiques sont les mêmes pour tous les individus. Par conséquent, il est primordial pour l'analyse des visages d'extraire les caractéristiques facial

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36

Leightley, Daniel. "3D human action recognition and motion analysis using selective representations." Thesis, Manchester Metropolitan University, 2015. http://e-space.mmu.ac.uk/600402/.

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With the advent of marker-based motion capture, attempts have been made to recognise and quantify attributes of “type”, “content” and “behaviour” from the motion data. Current work exists to obtain quick and easy identification of human motion for use in multiple settings, such as healthcare and gaming by using activity monitors, wearable technology and low-cost accelerometers. Yet, analysing human motion and generating representative features to enable recognition and analysis in an efficient and comprehensive manner has proved elusive thus far. This thesis proposes practical solutions that a

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Tierney, Rebecca Louise. "3D ultrasound imaging to quantify kidney motion due to respiration." Thesis, Queensland University of Technology, 2000.

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Elanattil, Shafeeq. "Non-rigid 3D reconstruction of the human body in motion." Thesis, Queensland University of Technology, 2020. https://eprints.qut.edu.au/205095/1/Shafeeq_Elanattil_Thesis.pdf.

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This thesis addresses the challenging problem of three-dimensional (3-D) reconstruction of a fast-moving human, using a single moving camera which captures both depth and colour information (RGB-D). Our objective is to find solutions to the challenges arising from the high camera motion and articulated human motions. We have developed an effective system which uses the camera pose, skeleton detection, and multi-scale information, to produce a robust reconstruction framework for 3-D modelling of fast-moving humans. The outcome of the research is useful for several applications of human performa

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DAGNES, NICOLE. "3D Human Face Analysis for recognition applications and motion capture." Doctoral thesis, Politecnico di Torino, 2020. http://hdl.handle.net/11583/2790163.

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Michielin, Francesco. "Disparity and Motion Estimation and their Application to 3D Reconstruction." Doctoral thesis, Università degli studi di Padova, 2014. http://hdl.handle.net/11577/3423494.

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This thesis provides an overview of the research that was done along the three years of the Ph.D. studies in the field of motion and disparity estimations. Concerning the motion estimation, a new parallel algorithm, which is suitable for a GPU based implementation, and a novel matching criterion based on a cross correlation based on binarized input are proposed. The combination of these techniques significantly reduces the computational cost while maintaining comparable results with respect to a standard recursive search method. On the topic of disparity estimation, a semi-automatic processing

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Krawczyk, Piotr. "Futurist sculpting: modeling movement in 3D." Texas A&M University, 2006. http://hdl.handle.net/1969.1/5014.

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Futurist Sculpting is a collection of techniques for representing dynamic motion in a static three-dimensional model. These techniques allow digital artists to use animation as a new modeling tool. The idea of Futurist Sculpting is inspired by the works of the Italian Futurist artists and it aims to achieve the same goal as the one described by Umberto Boccioni, Ã¢ÂÂto find a form that would be like a remembered motion, the product of time but permanent in space.Ã¢ÂÂ However, Futurist Sculpting extends BoccioniÃ¢ÂÂs idea to the new medium of 3D animation and modeling, introducing the tec

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Noonan, Philip John. "An investigation into motion correction schemes for high resolution 3D PET And PET/CT." Thesis, University of Manchester, 2014. https://www.research.manchester.ac.uk/portal/en/theses/an-investigation-into-motion-correction-schemes-for-high-resolution-3d-pet-and-petct(b52783fa-a5cf-4f85-a050-e57f8f775f45).html.

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Although motion correction in medical imaging is well established and has attracted much interest and research funding, a gap still exists in that there is a lack of reliable, low-cost hardware to enable such techniques to be widely adopted in healthcare. Motion correction of brain Positron Emission Tomography (PET) data for instance is an important step in realising the potential offered by modern high resolution PET scanners. Since it is not likely that subjects can remain stationary throughout the PET scan, which can last 60 minutes or more, accurate and reliable motion tracking is needed t

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GHERARDI, Riccardo. "Advances in 3D reconstruction." Doctoral thesis, Università degli Studi di Verona, 2010. http://hdl.handle.net/11562/344069.

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La tesi affronta il problema della ricostruzione di scene tridimensionali a partire da insiemi non strutturati di fotografie delle stesse. Lo stato dell'arte viene avanzato su diversi fronti: il primo contributo consiste in una formulazione robusta del problema di struttura e moto basata su di un approccio gerarchico, contrariamente a quello sequenziale prevalente in letteratura. Questa metodologia abbatte di un ordine di grandezza il costo computazionale complessivo, risulta inerentemente parallelizzabile, minimizza il progressivo accumulo degli errori e elimina la cruciale dipendenza dalla s

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Mukasa, Tomoyuki. "Mesoscopic Surface Characterization for Skeletal Kinematics Estimation from 3D Video." 京都大学 (Kyoto University), 2015. http://hdl.handle.net/2433/202742.

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Chen, Pei-Yao, and 陳沛堯. "Human Motion Extrapolation via Motion Analysis and 2D-3D Motion Estimation." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/81683950888361420836.

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碩士<br>淡江大學<br>資訊工程學系碩士班<br>99<br>The 3D virtual reality is a very popular research area over the last decade. The 3D products are proposed in video game industries. But most of the 3D products or researches didn’t use the real images or videos to generate, so we proposed a method to adopt the real 2D images to render 3D-liked vision. Our goal is to show the object like Google Map, we can rotate the object we load and according to the angle to show the corresponding object. Generally, if we can use more than one camera, and shooting the object from the surrounding each viewpoint. Then, the conv

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GuoWei, Liao, and 廖國瑋. "3D Arcade Motion-Ride Design." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/73357253210892730912.

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碩士<br>醒吾科技大學<br>資訊科技系所<br>102<br>In order to provide an immersive experience for the audience, 3D-dynamic cinemas often utilize computer program to control the dynamic arcade ride. The most common form of dynamic arcade ride design applies program to manipulate the arcade ride installed with motor, using post-production to write a one-way system control program, with part of the recorded movie plot generate action on the dynamic seat and synchronous control. This method of production requires a great amount of time, manpower and money, therefore uneasy to popularize. Through controlling the mi

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Li, Chuanjun. "Efficient 3D motion pattern retrieval in large motion capture databases /." 2006. http://proquest.umi.com/pqdweb?did=1306835321&sid=1&Fmt=2&clientId=10361&RQT=309&VName=PQD.

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"Stereo-motion for dense 3D reconstruction." 2015. http://repository.lib.cuhk.edu.hk/en/item/cuhk-1291987.

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Fang, Mu.<br>Thesis Ph.D. Chinese University of Hong Kong 2015.<br>Includes bibliographical references (leaves 72-79).<br>Abstracts also in Chinese.<br>Title from PDF title page (viewed on 12, December, 2016).

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Lin, Chun-Hao, and 林峻豪. "3D Motion Analysis For Animation Parameterization." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/57671363119021624111.

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碩士<br>國立成功大學<br>資訊工程學系碩博士班<br>92<br>Vivid 3D animation often needs the professional artist spending lots of time to construct. The more detail the animation contains, the more information it shall store. The huge size of the information brings the problem of storing, transferring and displaying the animation. Fine analysis and parameterization of the animation will help to compress the data. Therefore, animation analysis and parameterization plays an important role in the area of computer animation. In this paper, our method is based on the Principle Component Analysis (PCA). We use PCA to ana

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Chen, Peiyi. "3D Motion Planning using Kinodynamically Feasible Motion Primitives in Unknown Environments." Thesis, 2011. http://hdl.handle.net/10012/6227.

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Abstract:

Autonomous vehicles are a great asset to society by helping perform many dangerous or tedious tasks. They have already been successfully employed for many practical applications, such as search and rescue, automated surveillance, exploration and mapping, sample collection, and remote inspection. In order to perform most tasks autonomously, the vehicle must be able to safely and efficiently navigate through its environment. The algorithms and techniques that allow an autonomous vehicle to find traversable paths to its destination defines the set of problems in robotics known as motion planning.

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