Maciejewski, Anthony A., authorFox, John J., authorIEEE, publisher2007-01-032007-01-031992Fox, John J. and Anthony A. Maciejewski, Computing the Topology of Configuration Space, 1992 IEEE International Conference on Systems, Man, and Cybernetics: Emergent Innovations in Information Transfer Processing and Decision Making, Chicago, Illinois, October 18-21, 1992: 31-36.http://hdl.handle.net/10217/1211In this work, an algorithm is developed for generating the connectivity graph for a class of articulated manipulators. The algorithm is based upon the ability to determine whether two distinct obstacles in configuration space intersect. The efficiency of the test which is developed lies in the ability to determine the intersection relation by evaluating the curves which describe the configuration space obstacles at only a small number of points.born digitalproceedings (reports)eng©1992 IEEE.Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.search problemsmanipulatorspath planningcomputational complexitytopologyText