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Algorithms & Applications Group
Motion Planning Demo


The motion planning problem consists of finding a valid path for an object from a start configuration to a goal configuration. Traditionally, a valid path is any path that is collision-free, but for some applications such as computational biology, this can mean any path that is below some energy threshold. Motion planning has applications in robotics, games/virtual reality, computer-aided design/virtual prototyping, and bioinformatics. Our research is focused on developing motion planning algorithms and applying them to a wide range of problems.

Algorithmic Techniques

What is Motion Planning?

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Reachable Volume

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User-Guided Motion Planning

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Uniform Sampling Framework

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Instances of the Uniform Sampling Framework

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Obstacle-Based PRM (OBPRM)

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Uniform Obstacle-Based PRM (UOBPRM)

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Medial-Axis PRM (MAPRM)

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Uniform Medial-Axis PRM (UMAPRM)

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Adaptive Learning Framework

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Applications

Application of Motion Planning to Computational Biology

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Multi-agent System

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Region Steering

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Dynamic Region RRT

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Vizmo++

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Shape Approximations and its Applications

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Approximate Convex Decomposition

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