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Below you can find a collection of Mathematica packages and routines which are useful in the simulation of motion planning and coordination algorithms.

• PlanGeom.m [version 0.04, October 05]: this package includes some planar geometry primitives that are not available in Mathematica to compute intersections and projections of geometric objects and various proximity graphs. Future releases will include some basic integration routines over polygons. Not all the code has been optimized for numerical performance.
• SpatialGeom.m [version 0.02, July 04]: this package includes some spatial geometry primitives that are not available in Mathematica to compute intersections and projections of geometric objects and various proximity graphs. Not all the code has been optimized for numerical performance.

Mechanical and Aerospace Engineering, University of California, San Diego
9500 Gilman Dr, La Jolla, California, 92093-0411

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cortes at ucsd.edu
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