Virtual Guided Tours In this work, we consider an alternative metaphor of allowing a user to specify locations of interests on a 2D-layout map and let the system automatically generate the animation of guided tours in virtual architectural environments. Specifically, we aim to generate animations of customizable tour paths and its associated human/camera motions in an on-line manner according to high-level user inputs. Video: a virtual tour (mpg 2.9 Mb) A Java applet motion planner used for this project

Nonholonomic motion planning This planner generates paths for nonholonomic robots, such as cars, which normally have no ability to move sideways. The image on the right shows a path generated by the developed nonholonomic motion planner. The path is then used to control the car in a virtual world, described in VRML, shown in the figure on the left.