Algorithms & Applications Group
VIZMO++: A visualization/authoring tool for motion
planning
VIZMO++
Marco Morales, Xinyu Tang, Nancy Amato
Project Alumni: Jyh-Ming Lien, Bharatinder S. Sandhu, Aimée Vargas
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VIZMO is a 3D visualization/authoring tool for files provided/generated by OBPRM motion planning library.
This new version of VIZMO, VIZMO++, was developed for visualizing
and editing motion planning environments, problem instances, and their
solutions.
VIZMO++ offers a nice and easy to use graphical user interface
(GUI) that allows you to display workspace environments,
roadmap, path, and start/goal positions. It enables users to interact with and edit the
environment. For example, it lets users manipulate obstacles and
robot configurations, set queries, save new environments to be able to
work on them later, or select and move nodes and thus editing existing
or creating new paths and roadmaps. VIZMO++ interfaces with the planners available in our motion
planning library to enable users to run new queries. Our tool provides
a convenient interface to select planners and set their parameters.
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Applications using VIZMO++
- User-Guided Path Planning
VIZMO++ allows users to add and manipulate configurations. For example, starting with an
empty roadmap for the maze environment shown in the pictures below, users can insert
configurations in regions that look
difficult (narrow passages) and then feed these configurations to
planners as seed configurations. In this way planners can start
exploration in areas already identified by the user as interesting, to find a path to get from the start
configuration (shown in green) to the final configuration shown in orange.
(a motion planning problem)
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(manually placed configuration)
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Particle Transport and Seismic Ray Tracing
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The modularity of VIZMO++ allows us to make extensions for it. We are currently working on a version that
supports Constructive Solid Geometry (CSG), which will allow the creation of complex models through boolean
operations. This version will have applications for the particle transport and seismic ray tracing projects.
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Related Projects
Seismic Ray Tracing
Particle Transport Calculations
User-Guided Planning
Campus Navigator
Papers
VIZMO++: a Visualization, Authoring, and Educational Tool for Motion Planning, Aimée Vargas E., Jyh-Ming Lien, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot.
Autom. (ICRA), pp. 727-732, Orlando, Florida, To appear, May 2006. Also, Technical Report, TR05-014, Parasol Laboratory, Department of Computer Science, Texas A&M University, Sep 2005.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)
Visualization Tools for Moving Objects, Aimée Vargas E., Masters Thesis, Parasol Laboratory, Department of Computer Science, Texas A&M University, Dec 2005.
Masters Thesis(ps, pdf, abstract)
User-Guided Path Planning, Aimée Vargas, Jyh-Ming Lien, Marco A. Morales A., Samuel Rodriguez, Nancy M. Amato, Technical Report, TR05-011, Parasol Laboratory, Department of Computer Science, Texas A&M University, Sep 2005.
Technical Report(ps, pdf, abstract)
