Approximate Quadtree and Octree Representations for Manufacturing Tasks

Abstract This paper deals with approximate quadtree and octree representations of two-dimensional and three-dimensional objects for manufacturing tasks and presents some useful algorithms for robot grasp choice and further applications. These are based on a memory saving “top-down” form of tree nodes descriptions, enabling inner as well as outer approximations of regions and solid objects. A simple approach is presented for generation of gripping positions on solid object dealing with its octree model. Application of approximate representations to robot path-planning and to investigation of robot moveability is sketched.