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
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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 |
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Topology Preserving Free Configuration Space Approximation Gokul Varadhan, Young J. Kim, Shankar Krishnan, and Dinesh Manocha, International Conference on Robotics and Automation 2006 |
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Star-shaped Roadmaps - A Deterministic Sampling Approach for Complete Motion Planning Gokul Varadhan, Dinesh Manocha, Proc. Of RSS (Robotics : System and Science) 2005 |
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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 |
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Accurate Minkowski Sum Approximation of Polyhedral Models Gokul Varadhan, Dinesh Manocha, Pacific Graphics, 2004 Awarded the Best Paper Award |
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Topology Preserving Surface Extraction Using Adaptive Subdivision Gokul Varadhan, Shankar Krishnan, T.V.N. Sriram, Dinesh Manocha, Eurographics Symposium on Geometry Processing, 2004 |
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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 |
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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 |
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Feature-Sensitive Subdivision and Iso-Surface Reconstruction Gokul Varadhan, Shankar Krishnan, Young J. Kim, Dinesh Manocha, IEEE Visualization, 2003 |
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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
Young J. Kim (EWHA)
TVN. Sriram