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Geometric descriptions of polygon and chain spaces

Published in Farber, Michael, Ghrist, R., Burger, M., Koditschek, D. Topology and robotics. Zürich - 10-14th July 2006 - Providence, R.I.: American Mathematical Society. 2007, p. 47-57
Collection Contemporary mathematics; 438
Abstract We give a few simple methods to geometically describe some polygon and chain-spaces in R^d. They are strong enough to give tables of m-gons and m-chains when m <= 6.
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