BIB-VERSION:: CS-TR-v2.0
          ID:: STAN//CS-TN-95-23
       ENTRY:: August 10, 1995
ORGANIZATION:: Stanford University, Department of Computer Science
       TITLE:: Dynamic Maintenance of Kinematic Structures
        TYPE:: Technical Note
      AUTHOR:: Halperin, Dan
      AUTHOR:: Latombe, Jean-Claude
      AUTHOR:: Motwani, Rajeev
        DATE:: August 1995
       PAGES:: 13
    ABSTRACT:: We study the following dynamic data structure problem. Given
               a collection of rigid bodies moving in three-dimensional
               space and hinged together in a kinematic structure, our goal
               is to maintain a data structure that describes certain
               geometric features of these bodies, and efficiently update it
               as the bodies move. This data structure problem seems to be
               fundamental and it comes up in a variety of applications such
               as conformational search in molecular biology, simulation of
               hyper-redundant robots, collision detection and computer
               animation. In this note we present preliminary results on a
               few variants of the problem.
       NOTES:: [Adminitrivia V1/Prg/19950810]
         END:: STAN//CS-TN-95-23