A Delaunay-triangulation-based divide-and-conquer algorithm computes epsilon-optimal independent contact regions for planar grasps with up to 7 contacts, at speeds suitable for real-time planning.
ConstructingL ∞ voronoi diagrams in 2d and 3d,
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Fast Estimation of Globally Optimal Independent Contact Regions for Robust Grasping and Manipulation
A Delaunay-triangulation-based divide-and-conquer algorithm computes epsilon-optimal independent contact regions for planar grasps with up to 7 contacts, at speeds suitable for real-time planning.