Geometry is a powerful tool to solve a great number ofproblems in robotics and computer vision. Impressive resultshave been obtained in these fields in the last decade. It isa new challenge to solve problems of the actual world whichrequire the ability to reason about uncertainty and complexmotion constraints by combining geometric, kinematic, anddynamic characteristics. A necessary step is to developappropriate geometric reasoning techniques with reasonablecomputational complexity.This volume is based on a workshop held in Grenoble,France,in September 1991. It contains selectedcontributions on several important areas in the field ofrobotics and computer vision. The four chapters cover thefollowing areas:- motion planning with kinematic and dynamic constraints,- motion planning and control in the presence ofuncertainty,- geometric problems related to visual perception,-numerical problems linked to the implementation ofpractical algorithms for visual perception.