Proceedings ArticleDOI
Fast distance queries with rectangular swept sphere volumes
Eric Larsen,Stefan Gottschalk,Ming C. Lin,Dinesh Manocha +3 more
- Vol. 4, pp 3719-3726
TLDR
These algorithms have been used to perform proximity queries for applications including virtual prototyping, dynamic simulation, and motion planning on complex models and have achieved significant speedups on many benchmarks.Abstract:
We present new distance computation algorithms using hierarchies of rectangular swept spheres. Each bounding volume of the tree is described as the Minkowski sum of a rectangle and a sphere, and fits tightly to the underlying geometry. We present accurate and efficient algorithms to build the hierarchies and perform distance queries between the bounding volumes. We also present traversal techniques for accelerating distance queries using coherence and priority directed search. These algorithms have been used to perform proximity queries for applications including virtual prototyping, dynamic simulation, and motion planning on complex models. As compared to earlier algorithms based on bounding volume hierarchies for separation distance and approximate distance computation, our algorithms have achieved significant speedups on many benchmarks.read more
Citations
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Journal ArticleDOI
The Open Motion Planning Library
TL;DR: The open motion planning library is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms, and it can be conveniently interfaced with other software components.
Proceedings ArticleDOI
FCL: A general purpose library for collision and proximity queries
TL;DR: A new collision and proximity library that integrates several techniques for fast and accurate collision checking and proximity computation and is based on hierarchical representations and designed to perform multiple proximity queries on different model representations.
Journal ArticleDOI
A Survey on Hair Modeling: Styling, Simulation, and Rendering
TL;DR: This paper surveys the state of the art in the major topics of hair modeling: hairstyling, hair simulation, and hair rendering, presenting the unique challenges facing each area and describing solutions that have been presented over the years.
Journal ArticleDOI
Coordinating Multiple Robots with Kinodynamic Constraints Along Specified Paths
Jufeng Peng,Srinivas Akella +1 more
TL;DR: An approach to generate continuous velocity profiles for multiple robots; these velocity profiles satisfy the dynamics constraints, avoid collisions, and minimize the completion time is presented.
References
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Journal ArticleDOI
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