Efficient Approximate Algorithms for Boolean Operations, Motion Planning, Sweeps, and Minkowski Sum With Geometric and Topological Guarantees

 

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We are working on efficient algorithms for performing Boolean operations, motion planning, swept volume, and Minkowski sum computation.  We employ distance field based volumetric techniques to perform these operations.  The main advantage of these techniques is their efficiency.  However, these techniques typically provide only an approximation to the exact surface without any guarantees on the quality of approximation.  Compared to prior work, we focus on providing geometric and topological guarantees on our approximation.  As a result, we are able to guarantee a good quality of approximation.

 

Publications

 

 

 

 

Reliable Implicit Surface Polygonization using Visibility Mapping (Model Courtesy: BRL-CAD)

Gokul Varadhan, Shankar Krishnan, Liangjun Zhang, and Dinesh Manocha,

Symposium on Geometry Processing 2006

 

 

 

Topology Preserving Free Configuration Space Approximation

Gokul Varadhan, Young J. Kim, Shankar Krishnan, and Dinesh Manocha,

International Conference on Robotics and Automation 2006

 

 

 

 

Star-shaped Roadmaps - A Deterministic Sampling Approach for Complete Motion Planning

Gokul Varadhan, Dinesh Manocha,

Proc. Of RSS (Robotics : System and Science) 2005

 

 

 

Topology Preserving Isosurface Extraction for Geometry Processing

Gokul Varadhan, Shankar Krishnan, T.V.N. Sriram, and Dinesh Manocha,

Technical Report, Department of Computer Science, UNC, 2005

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 


Accurate Minkowski Sum Approximation of Polyhedral Models

Gokul Varadhan, Dinesh Manocha,

Pacific Graphics, 2004

Awarded the Best Paper Award

 

 

 

 

 

 

 

 

 

Topology Preserving Surface Extraction Using Adaptive Subdivision

Gokul Varadhan, Shankar Krishnan, T.V.N. Sriram, Dinesh Manocha,

Eurographics Symposium on Geometry Processing, 2004

 

 

 

 

 

 

A Simple Algorithm for Complete Motion Planning of Translating Polyhedral Robots

Gokul Varadhan, Shankar Krishnan, T.V.N. Sriram, Dinesh Manocha,

Workshop on the Algorithmic Foundations of Robotics, 2004

 

               

 

 

Fast Swept Volume Approximation of Complex Polyhedral Models

Young J. Kim, Gokul Varadhan, Ming C. Lin and Dinesh Manocha,

ACM Conference on Solid Modeling & Applications 2003

Awarded the Best Paper Award

 

 

 

 

 

 

 

Feature-Sensitive Subdivision and Iso-Surface Reconstruction

Gokul Varadhan, Shankar Krishnan, Young J. Kim, Dinesh Manocha,

IEEE Visualization, 2003

 

 

 

 

 

 

 

 

Efficient Max-Norm Distance Computation and Reliable Voxelization

Gokul Varadhan, Shankar Krishnan, Young J. Kim, Suhas Diggavi, Dinesh Manocha,

Eurographics Symposium on Geometry Processing, 2003

 

Members

Gokul Varadhan

Dinesh Manocha

Shankar Krishnan (AT&T Labs)

Young J. Kim (EWHA)

TVN. Sriram

Ming C. Lin