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Algorithms & Applications Group
Interface for Motion Planning
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User-Guided Motion Planning
Collaborative Region Steering
Vizmo++
Interactive Dynamic Simulation
Haptic Interaction in Motion Planning

Here are our projects. Click on the sliding image to learn more.

We consider how to incorporate the strengths of both human operators and automatic planning methods. We propose to use a haptic device to allow user to provide an approximate path or to use an interactive 3D visualization tool (Vizmo++) that allows users to easily add nodes to a roadmap in difficult regions visually detected by the user. These hints provided by users are later used by motion planners and allow these planners to find valid paths more efficiently. We demonstrate its applications in Virtual Prototyping and Ligand Binding. We also implemented an interactive dynamic simulator for simulating motions of systems of rigid bodies in virtual environments.

We consider how to incorporate the strengths of both human operators and automatic planning methods. We have studied problems involving rigid bodies moving among static obstacles, such as parts in mechanical assemblies, and ligand binding which is of interest in drug design. Our studies use the PHANToM haptic device by SensAble Technologies, Inc.. We developed a simple roadmap visualization technique so that the human operator can see the the weakness of the roadmap generated by the automated planner. Later, the operator can use a haptic interface to improve this roadmap.

Most existing dynamic simulators are for specific types of environments, being able to simulate motions of either robot manipulators or interactions between the robot (with fixed-base)/free body and environment. We implemented an interactive dynamic simulator for simulating motions of systems of rigid bodies in virtual environments.

Papers

Supporting Path Planning Queries Incorporating Multiple Modes of Transportation using Layered Roadmaps, Roger Pearce, Bryan Boyd, Xinyu Tang, Darla Haigler, Akhil Patel, Nancy M. Amato, Technical Report, TR06-014, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct 2006.


User-Guided Motion Planning

On the Theory of User-guided Planning, Jory Denny, Jonathan Colbert, Qin Hongsen, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. to appear, Daejeon, Korea, Oct 2016.
Proceedings(ps, pdf, abstract)

Collaborative Motion Planning, Jory Denny, Ph.D. Thesis, Department of Computer Science and Engineering, Texas A&M University, Aug 2016.
Ph.D. Thesis(ps, pdf, abstract)

A General Region-Based Framework for Collaborative Planning, Jory Denny, Read Sandstrom, Nancy M. Amato, In Proc. Inter. Symp. on Robotics Research (ISRR), pp. 563-579, Genova, Italy, Sep 2015.
Proceedings(ps, pdf, abstract)

A Region-Based Strategy for Collaborative Roadmap Construction, Jory Denny, Read Sandstrom, Nicole Julian, Nancy M. Amato, In Proc. Int. Wkshp. on Alg. Found. of Rob. (WAFR), pp. to appear, Istanbul, Turkey, Aug 2014.
Proceedings(ps, pdf, abstract)

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)

Enhancing Randomized Motion Planners: Exploring with Haptic Hints, O. Burchan Bayazit, Guang Song, Nancy M. Amato, Autonomous Robots, 10(2):163-174, 2001. Also, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 529-536, Apr 2000. Also, Technical Report, TR99-021, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct 1999.
Proceedings(pdf, abstract)

Ligand Binding with OBPRM and Haptic User Input, O. Burchan Bayazit, Guang Song, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 954-959, 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)

Ligand Binding with OBPRM and Haptic User Input: Enhancing Automatic Motion Planning with Virtual Touch, O. Burchan Bayazit, Guang Song, Nancy M. Amato, Technical Report, TR00-025, Department of Computer Science and Engineering, Texas A&M University, Oct 2000.
Technical Report(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)

Providing Haptic 'Hints' to Automatic Motion Planners, O. Burchan Bayazit, Guang Song, Nancy M. Amato, In Phantom Users Group Work. (PUG), Oct 1999.
Proceedings(ps, pdf, abstract)

Providing Haptic 'Hints' to Automatic Motion Planners, Nancy M. Amato, O. Burchan Bayazit, Kyunghwan Kim, Wookho Son, Guang Song, Technical Report, TR98-026, Department of Computer Science and Engineering, Texas A&M University, Nov 1998.


Collaborative Region Steering

On the Theory of User-guided Planning, Jory Denny, Jonathan Colbert, Qin Hongsen, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. to appear, Daejeon, Korea, Oct 2016.
Proceedings(ps, pdf, abstract)

Collaborative Motion Planning, Jory Denny, Ph.D. Thesis, Department of Computer Science and Engineering, Texas A&M University, Aug 2016.
Ph.D. Thesis(ps, pdf, abstract)

A General Region-Based Framework for Collaborative Planning, Jory Denny, Read Sandstrom, Nancy M. Amato, In Proc. Inter. Symp. on Robotics Research (ISRR), pp. 563-579, Genova, Italy, Sep 2015.
Proceedings(ps, pdf, abstract)

A Region-Based Strategy for Collaborative Roadmap Construction, Jory Denny, Read Sandstrom, Nicole Julian, Nancy M. Amato, In Proc. Int. Wkshp. on Alg. Found. of Rob. (WAFR), pp. to appear, Istanbul, Turkey, Aug 2014.
Proceedings(ps, pdf, abstract)

Vizmo++

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)

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)

Haptic Interaction in Motion Planning

Enhancing Randomized Motion Planners: Exploring with Haptic Hints, O. Burchan Bayazit, Guang Song, Nancy M. Amato, Autonomous Robots, 10(2):163-174, 2001. Also, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 529-536, Apr 2000. Also, Technical Report, TR99-021, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct 1999.
Proceedings(pdf, abstract)

Ligand Binding with OBPRM and Haptic User Input, O. Burchan Bayazit, Guang Song, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 954-959, 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)

Ligand Binding with OBPRM and Haptic User Input: Enhancing Automatic Motion Planning with Virtual Touch, O. Burchan Bayazit, Guang Song, Nancy M. Amato, Technical Report, TR00-025, Department of Computer Science and Engineering, Texas A&M University, Oct 2000.
Technical Report(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)

Providing Haptic 'Hints' to Automatic Motion Planners, O. Burchan Bayazit, Guang Song, Nancy M. Amato, In Phantom Users Group Work. (PUG), Oct 1999.
Proceedings(ps, pdf, abstract)

Providing Haptic 'Hints' to Automatic Motion Planners, Nancy M. Amato, O. Burchan Bayazit, Kyunghwan Kim, Wookho Son, Guang Song, Technical Report, TR98-026, Department of Computer Science and Engineering, Texas A&M University, Nov 1998.



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