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Projects at TAU: Robust Geometric Computing, Motion Planning, Robotics and Automation, CGAL

Recent Projects at TAU

click on a picture or a title for further information

CGAL Python Bindings

staggered grid

Near-Optimal Multi-

Robot Motion Planning

with Finite Sampling

neuron_vasculature_edited

Neural Collision

All projects at TAU

On Two-Handed Planar Assembly Partitioning with Connectivity Constraints	Optimized Synthesis of Snapping Fixtures	Space-Aware Reconfiguration	Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores	Maintaining the Union of Unit Discs Under Insertions with Near-Optimal Overhead	Throwing a Sofa Through the Window
The Critical Radius in Sampling-based Motion Planning	Scalable Asymptot- ically-Optimal Multi- Robot Motion Planning	Sampling-Based Bottleneck Pathfinding With Applications To Fréchet Matching	Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation	Motion Planning for Multiple Unit-Ball Robots in Rᵈ	Optimal Area Polygonalization
Separation of a Polyhedron From Its Single Part Mold	The Offset Filtration of Convex Objects	Motion Planning for Multi-Link Robots by Implicit Configuration- Space Tiling	Motion Planning for Unlabeled Discs with Optimality Guarantees	Exact Minkowski Sums of Polygons With Holes	Effective Metrics for Multi-Robot Motion-Planning
Efficient high-quality motion planning by fast all-pairs r-nearest-neighbors	PSPACE-hardness of unlabeled motion planning and variants	Asymptotically Optimal Motion- Planning Using Lower Bounds on Cost	Asymptotically Near -optimal RRT for Fast, High Quality, Motion-Planning	Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons	Discrete RRT Exploration of Implicit Roadmaps in Multi- Robot Motion Planning
Roadmap Sparsification by Edge Contraction	Planar Point Location Depth vs. Max Query Length	k-Color Multi-Robot Motion Planning	Motion Planning via Manifold Sampling	Sampling-Diagrams Automata: a Tool for Analyzing Path Quality in Tree Planners	Efficient retrieval of Minkowski sum of rotating polytopes
High Quality Conservative Surface Mesh Generation for Swept Volumes	Exact Voronoi Diagram of Arbitrary Lines in Space	Deconstructing Approximate Offsets	Lines Through Segments	Improving Path Quality by a Path Merging Algorithm	Snap Rounding on The Sphere
Pathways in Ball Union Complement	Assembly Partitioning with Infinite Translations	PathRover - Optimization of Molecular Motions	Arrangement of Geodesic Arcs on the Sphere	Arrangements on Surfaces	Constructing 2D Voronoi Diagrams via Envelopes
Exact and Efficient Construction of Planar Minkowski Sums using Convolution	Exact and Approximate Construction of Offset Polygons	Arrangements of Bézier curves	Planning Near- Optimal Corridors	The Complexity of the Outer Face in Arrangements of Random Segments	Envelopes of Surfaces
Exact Complexity of Minkowski Sums	Landmarks Point Location	Dynamic Maintenance of Molecular Surfaces	Gaussian Map Cubical	The Visibility-Voronoi Complex	Path Verification for NC Machining
Controlled Perturbation (of Circles)	Union of Objects	Sweep of the Plane	High Level Filtering with Conic Arcs	Hybrid Motion Planning Coordinating 2 discs	Vertical Decomposition of Triangles in 3D
Largest Empty Rectangle	Line Segments and Circular Arcs	Minimum Enclosing Disc	Minkowski Sums	Iterated Snap Rounding	Controlled Perturbation of Polyhedral Surfaces
Controlled Perturbation of spheres	Lower Envelopes of Planar Curves	Online Zone Construction	Adaptive Point Location (of Parametric Curves)	Arrangements	Planar Maps

Other Projects At TAU

Window Cleaning Swarm Apparatus	DiscoPygal
Paranoid Android	Mini Supertanker Watering a plant pot with a drone	2D Part Orienting	Eroding 3D Parts	Converting GCode to STL	Path Following using Drones

Projects Using TAU Packages

Generating Grid Ogons and Ogons	Art By AI Computers Creating Abstract Art by Artificial Intelligence	AGPPROJ Solving Art Gallery Problems to Optimality	Kunst! Solutions to Art Gallery Problems	Symmetric Protein Structure Determination Using Arrangements of Circular Arcs	Analysis of Algebraic Surfaces
Arrangements of Algebraic Curves	Computation of the Metric Average of Two Simple Polygons and Extensions	Computing a single face in an arrangement of line segments	2D Arrangement Demonstration Program	Using CGAL for Robust Planar Geometry Processing in Agilent ADS	Inner Cover of Non Convex Shapes
Building a Map Tool with the CGAL Planar Map Class	Maximizing the Area of an Axis Symetric Polygon Inscribed by a Polygon	CGAL Arrangements Induced by IRIT Free -form Curves

Contact

Dan Halperin
Efi Fogel

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