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This paper presents algorithms for computing constraints on the position of an object due to the presence ofother objects. This problem arises in applications that require choosing how to arrange or how to move objects without collisions. The approach presented here is based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object. Thedoi:10.1109/tc.1983.1676196 fatcat:7lbf6dxkmngq7ltlh7nofcfgoq