Physically-based Motion Planning| Algorithms & Applications Group
supported by NSF, Dept. of Education, Texas Higher Education Coordinating Board
Jyh-Ming Lien, Samuel Rodriguez, and Nancy M. Amato
Project Alumni: Wookho Son, Kyunghwan Kim, Jeffrey Trinkle, O. Burchan Bayazit

Top | Probabilistic Roadmap Motion Planning for Deformable Objects | Planning Motion in Completely Deformable Environments | Interactive Dynamic Simulation | Publications
	Probabilistic Roadmap Motion Planning for Deformable Objects In this work, we find a path which requires the robot to deform in order to follow it. The path may contain collisions for the rigid (undeformed) version of the robot. After finding such path, we employ bounding box deformation or geometric deformation to deform the robot to avoid collisions. Our approach deforms the robot only in necessary conditions (if there is a collision). The proposed method generates perceptually convincing motion efficiently. Probabilistic Roadmap Motion Planning for Deformable Objects Publications
Top | Probabilistic Roadmap Motion Planning for Deformable Objects | Planning Motion in Completely Deformable Environments | Interactive Dynamic Simulation | Publications
	Planning Motion in Completely Deformable Environments We present a framework for planning paths in completely deformable, elastic environments. In particular we apply a deformable model to the robot and obstacles in the environment and we present a kinodynamic planning algorithm suited for this type of deformable motion planning. To the best of our knowledge, this is the first work that plans paths in totally deformable environments. Planning Motion in Completely Deformable Environments Publications
Top | Probabilistic Roadmap Motion Planning for Deformable Objects | Planning Motion in Completely Deformable Environments | Interactive Dynamic Simulation | Publications
	Interactive Dynamic Simulation The purpose of this work is to design and implement an interactive dynamic simulator for simulating motions of systems of rigid bodies in virtual environments. The simulator should accommodate various systems of rigid bodies, ranging from a single free flying rigid object to complex linkages such as those needed for robotic systems or human body simulation. Moreover, the simulator should easily incorporate user-input for the the on-line editing and modification of trajectories. Interactive Dynamic Simulation Publications
Top | Probabilistic Roadmap Motion Planning for Deformable Objects | Planning Motion in Completely Deformable Environments | Interactive Dynamic Simulation | Publications

Papers

Probabilistic Roadmap Motion Planning for Deformable Objects

Approximate Convex Decomposition and Its Applications, Jyh-Ming Lien, Ph.D. Thesis, Department of Computer Science, Texas A&M University, Dec 2006.
Ph.D. Thesis(pdf, abstract)

Planning Motion in Completely Deformable Environments, Samuel Rodriguez, Jyh-Ming Lien, N. M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 2466-2471, Orlando, FL, May 2006. Also, Technical Report, TR05-010, Parasol Laboratory, Department of Computer Science, Texas A&M University, Sep 2005.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

Probabilistic Roadmap Motion Planning for Deformable Objects, O. Burchan Bayazit, Jyh-Ming Lien, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 2126-2133, Washingon, D.C., May 2002. Also, Technical Report, TR01-003, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct 2001.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

Planning Motion in Completely Deformable Environments

Approximate Convex Decomposition and Its Applications, Jyh-Ming Lien, Ph.D. Thesis, Department of Computer Science, Texas A&M University, Dec 2006.
Ph.D. Thesis(pdf, abstract)

Planning Motion in Completely Deformable Environments, Samuel Rodriguez, Jyh-Ming Lien, N. M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 2466-2471, Orlando, FL, May 2006. Also, Technical Report, TR05-010, Parasol Laboratory, Department of Computer Science, Texas A&M University, Sep 2005.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

Probabilistic Roadmap Motion Planning for Deformable Objects, O. Burchan Bayazit, Jyh-Ming Lien, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 2126-2133, Washingon, D.C., May 2002. Also, Technical Report, TR01-003, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct 2001.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

Interactive Dynamic Simulation

Hybrid Dynamic Simulation of Rigid-Body Contact with Coulomb Friction, Wookho Son, Jeffrey C. Trinkle, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 1376-1381, May 2001.
Proceedings(ps, pdf, abstract)

Interactive Dynamic Simulation using Haptic Interaction, Wookho Son, Kyunghwan Kim, Nancy M. Amato, Jeffrey C. Trinkle, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. 145-150, Nov 2000.
Proceedings(ps, pdf, abstract)

An Interactive Generalized Motion Simulator (GMS) in an Object-Oriented Framework, Wookho Son, Kyunghwan Kim, Nancy M. Amato, In Proc. of Computer Animation (CA), pp. 176-181, May 2000.
Proceedings(ps, pdf, abstract)

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