{"id":16717,"date":"2002-03-05T00:00:00","date_gmt":"2002-03-05T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/local-characterizaation-of-the-configuration-space\/"},"modified":"2002-03-05T00:00:00","modified_gmt":"2002-03-05T00:00:00","slug":"local-characterizaation-of-the-configuration-space","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/local-characterizaation-of-the-configuration-space\/","title":{"rendered":"Local characterizaation of the configuration space"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Ernesto Staffetti <\/strong><\/h2>\n<p>En esta tesis han sido estudiadas aquellas propiedades locales del espacio de configuraci\u00f3n de un objeto r\u00edgido que se mueve en un entorno r\u00edgido que son relevantes para la planificaci\u00f3n del movimiento sin colisiones y para la planificaci\u00f3n del movimientos acomodaticios.  este espacio es muy utilizado para el estudio del problema de la planificaci\u00f3n del movimiento debido a que el objeto m\u00f3vil queda representado por un punto. desafortunadamente el entorno queda transformado en un conjunto semi-algebraico descrito por un conjunto de ecuaciones altamente no lineales que es dif\u00edcil de representar y analizar. Este hecho junto a la elevada dimensionalidad del espacio de configuraciones en casos de inter\u00e9s pr\u00e1ctico, la diferencia entre su topolog\u00eda global y la del espacio euclidiano y la ausencia de una m\u00e9trica natural, hacen el estudio de su geometr\u00eda muy dif\u00edcil.  sin embargo, la topolog\u00eda local del espacio de configuraciones es equivalente a la del espacio euclidiano. Por tanto una posible manera de simplificar su estudio es restringir la atenci\u00f3n a una regi\u00f3n limitada de este espacio. m\u00e9todos topol\u00f3gicos y geom\u00e9tricos has sido empleados para la caracterizaci\u00f3n local del espacio de configuraciones.  mientras que los m\u00e9todos topol\u00f3gicos resultan intr\u00ednsecamente independientes de la m\u00e9trica utilizada, la utilizaci\u00f3n de conceptos m\u00e9tricos en la caracterizaci\u00f3n geom\u00e9trica ha sido evitada. La invariaci\u00f3n respecto a cambios de coordenadas ha sido obtenida representando el espacio de trabajo mediante el espacio proyectivo y usando descriptores geom\u00e9tricos que cumplen los requisitos del primero y del segundo teorema fundamental de la teor\u00eda de invariantes.  el resultado de la investigaci\u00f3n es un conjunto de m\u00e9todos independientes de la m\u00e9trica y del sistema de coordenadas utilizado para el estudio de la geometr\u00eda local del espacio de configuraciones, en particular, para entender cuales restricciones son localment<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Local characterizaation of the configuration space<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Local characterizaation of the configuration space <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Ernesto Staffetti <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de catalunya<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 03\/05\/2002<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Federico Thomas Arroyo<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Luis Bas\u00e1\u00f1ez villaluenga <\/li>\n<li>vicente Mata amela (vocal)<\/li>\n<li>herman Bruyninckx (vocal)<\/li>\n<li>\u00e1lvar Vinacua pla (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Ernesto Staffetti En esta tesis han sido estudiadas aquellas propiedades locales del espacio de configuraci\u00f3n de un [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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