=. Follown-murs, 00 Param etres mur 1 : c^ ot e = gauche, sommet = convexe, aeae =8 7 :6, l 1 = 147:2, l 2 =4 0 :8, d etection vertex, d concave = , Param etres mur 2 : c^ ot e = gauche, sommet = , aeae =

.. Calcul-de-l-'ëatteignabilit-e, des segments appartenantt a la surface d'un C-obstacle, p.39

.. Un-exemple-de-l-2ë, approche de planiaecation propos ee dans l'espace des conaegurations IR 2 ë0, p.69

.. Un-exemple-de-l-suitee, approche de planiaecation propos ee dans l'espace des conaegurations IR 2 ë0, p.70

.. Un-exemple-de-l-2ëëaenn, approche de planiaecation propos ee dans l'espace des conaegurations IR 2 ë0, p.71

C. 'un, Condition d'ëatteignabilit e" d, p.84

.. Le-c^-one-de-rupture-de-contact, 10 Comportement du potentiel aectif dans l'espace C contact cas 11, 88 5.11 Comportement du potentiel aectif dans l'espace C contact cas 22. ..... 89 5.12 Comportement du potentiel aectif dans l'espace C contact cas 33. ..... 90

.. Mouvement-d-'ëalignement, autour des extr emit es des surfaces des obstacles suitee, p.94

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