Interactive motion planning using hardware-accelerated computation of generalized Voronoi diagrams

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2000, Pages 2931-2937

  Hoff III, Kenneth ^a   Culver, Tim ^a   Keyser, John ^a   Lin, Ming C ^a   Manocha, Dinesh ^a  

^a UNIVERSITY OF NORTH CAROLINA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

GENERALIZED VORONOI DIAGRAMS; GRAPHICS HARDWARE; THREE DIMENSIONAL DISTANCE MESH; VORONOI BOUNDARIES; VORONOI GRAPHS; VORONOI VERTICES;

ALGORITHMS; APPROXIMATION THEORY; COMPUTER GRAPHICS; THREE DIMENSIONAL;

MOTION PLANNING;

EID: 0033708548     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (35)

1. J. Barraquand and J.-C. Latombe. Robot motion planning: A distributed representation approach. Int. J. Robotic Research, 1991.
2. H. Choset and J. Burdick. Sensor based planning and nonsmooth analysis. IEEE Conference on Robotics and Automation, 1994.
3. H. Choset and J. Burdick. Sensor based planning, part i: The generalized voronoi graph. IEEE Conference on Robotics and Automation, 1995.
4. H. Choset and J. Burdick. Sensor based planning, part ii: Incremental construction of the generalized voronoi graph. IEEE Conference on Robotics and Automation, 1995.
5. H. Choset and J. Burdick. Sensor based planning: The hierarchical generalized voronoi graph. Workshop on Algorithmic Foundations of Robotics, 1996.
6. J. Canny and B. R. Donald. Simplified Voronoi diagrams. In Proc. 3rd Annu. ACM Sympos. Comput. Geom., pages 153-161, 1987.
7. H. Choset. Nonsmooth analysis, convex analysis and their applications to motion planning. International Journal of Computational Geometry and Applications, 1997.
8. H. Choset, I. Konukseven, and A. Rizzi. Sensor based planning: A control law for generating the generalized voronoi graph. IEEE Conference on Robotics and Automation, 1997.
9. H. Choset, I. Konukseven, and A. Rizzi. Sensor based planning: Using a honing strategy and local map method to implement the generalized voronoi graph. SPIE Mobile Robotics, 1997.
10. J. F. Canny and M. C. Lin. An opportunistic global path planner. Proceedings of International Conference on Robotics and Automation, pages 1554-1559, 1990.
11. J. F. Canny and M. C. Lin. An opportunistic global path planner. Algorithmica, 10:102-120, 1993.
12. H. Chang and T. Li. Assembly maintainability study with motion planning. In Proceedings of International Conference on Robotics and Automation, 1995.
13. H. Choset, B. Mirtich, and J. Burdick. Sensor based planning for a planar rod robot: Incremental construction of the planar rod-hgvg. IEEE Conference on Robotics and Automation, 1997.
14. D. Filip and R. Goldman. Conversion from bezier-rectangles to bezier-triangles. CAD, 19:25-27, 1987.
15. P.W. Finn, L.E. Kavraki, J.C. Latombe, R. Motwani, C. Shelton, S. Venkatasubramanian, and A. Yao. Rapid: Randomized pharmacophore identification for drug design. Proc. of 13th ACM Symp. on Computational Geometry (SoCG'97), 1997.
16. A revised version of this paper also appeared in Computational Geometry: Theory and Applications, 10, pp. 263-272, 1998.
17. J. Goldfeather, S. Molnar, G. Turk, and H. Fuchs. Near real-time csg rendering using tree normalization and geometric pruning. IEEE Computer Graphics and Applications, 9(3):20-28, 1989.
18. K. Hoff, T. Culver, J. Keyser, M. Lin, and D. Manocha. Fast computation of generalized voronoi diagrams using graphics hardware. Proceedings of ACM SIGGRAPH 1999, 1999.
19. K. Hoff, T. Culver, J. Keyser, M. Lin, and D. Manocha. Fast computation of generalized voronoi diagrams using graphics hardware. Technical Report TR99-011, Department of Computer Science, University of North Carolina, 1999.
20. I. Konukseven and H. Choset. Mobile robot navigation: Implementing the gvg in the presence of sharp corners. Proceedings of IROS, 1997.
21. Yoshihito Koga, Koichi Kondo, James Kuffner, and Jean-Claude Latombe. Planning motions with intentions. In Andrew Glassner, editor, Proceedings of SIGGRAPH '94 (Orlando, Florida, July 24-29, 1994), Computer Graphics Proceedings, Annual Conference Series, pages 395-408. ACM SIGGRAPH, ACM Press, July 1994. ISBN 0-89791-667-0.
22. L. Kavraki and J. C. Latombe. Randomized preprocessing of configuration space for fast path planning. IEEE Conference on Robotics and Automation, pages 2138-2145,1994.
23. L. Kavraki, F. Lamiraux, and C. Hollerman. Towards planning for elastic objects. Proc. of 3rd Workshop on Algorithmic Foundations of Robotics, 1998.
24. L. Kavraki, P. Svestka, J. C. Latombe, and M. Overmars. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans. Robot. Automat., pages 12(4):566-580, 1996.
25. S. Kumar. Interaetive Rendering of Parametric Spline Surfaces. PhD thesis, Department of Computer Science, University of N. Carolina at Chapel Hill, 1996.
26. J.C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991.
27. Jed Lengyel, Mark Reichert, Bruce R. Donald, and Donald P. Greenberg. Real-time robot motion planning using rasterizing computer graphics hardware. In Forest Baskett, editor, Computer Graphics (SIGGRAPH '90 Proceedings), volume 24, pages 327-335, August 1990.
28. C. Ó'Dúnlaing, M. Sharir, and C. K. Yap. Retraction: A new approach to motion-planning. In Proc. 15th Annu. ACM Sympos. Theory Comput., pages 207-220, 1983.
29. C. Pisula, K. Hoff, M. Lin, and D. Manocha. Randomized path planning for a rigid body based on hardware accelerated voronoi sampling. In Proc. of 4th International Workshop on Algorithmic Foundations of Robotics, 2000.
30. J. Rossignac, A. Megahed, and B.D. Schneider. Interactive inspection of solids: cross-sections and interferences. In Proceedings of ACM Siggraph, pages 353-60, 1992.
31. J. Rossignac and A. Requicha. Depth-buffering display techniques for constructive solid geometry. In IEEE Computer Graphics and Applications, pages 6(9):29-39, 1986.
32. Peter F. Stiller Steven A. Wilmarth, Nancy M. Am-ato. Maprm: A probabilistic roadmap planner with sampling on the medial axis of the free space. IEEE Conference on Robotics and Automation, 1999.
33. Peter F. Stiller Steven A. Wilmarth, Nancy M. Am-ato. Motion planning for a rigid body using random networks on the medial axis of the free space. Proc. of the 15th Annual ACM Symposium on Computational Geometry (SoCG'99), 1999.
34. A. Schweikard, R. Tombropoulos, L.E Kavraki, J.R. Adler, and J.C. Latombe. Treatment planning for a radiosurgical system with general kinematics. IEEE Conference on Robotics and Automation, 1994.
35. R. Tombropoulos, J.R. Adler, and J.C. Latombe. Carabeamer: A treatment planner for a robotic radiosurgical system with general kinematics. Medical Image Analysis, pages 3(3):l-28, 1999.