Michelucci, D.Foufou, S.Gershon Elber and Nicholas Patrikalakis and Pere Brunet2016-02-172016-02-1720043-905673-55-X1811-7783https://doi.org/10.2312/sm.20041403We use Cayley-Menger Determinants (CMDs) to obtain an intrinsic formulation of geometric constraints. First, we show that classical CMDs are very convenient to solve the Stewart platform problem. Second, issues like distances between points, distances between spheres, cocyclicity and cosphericity of points are also addressed. Third, we extend CMDs to deal with asymmetric problems. In 2D, the following configurations are considered: 3 points and a line; 2 points and 2 lines; 3 lines. In 3D, we consider: 4 points and a plane; 2 points and 3 planes; 4 planes.I.3.5 [Computer Graphics]Computational Geometry and Object Modeling10.2312/sm.20041403285-290