Motion and Path Planning Videos  YouTube Playlist

The motion and path planning research group has produced numerous videos for various research topics. Below is a collection of videos that have been converted to AVI or MPEG format. The videos are grouped
by project.

VPLAN

 Piano
(mpeg, 5.0 Mb)

The goal of the path planner is to move the piano through the
window which requires the piano to be twisted and turned to get through.
Winding Tunnel
(mpeg, 1.0 Mb)

The planner must find a path through the tunnel for the pyramid peg.
3D Maze
(mpeg, 1.0 Mb)

Plan the path of the peg through the maze.

Interactive Motion Planning

 2D Overhead View
(avi, 4.3 Mb)

Overhead view of house floor plan. Current position of music stand
is shown in the center of the image. The closest node of the Voronoi graph is shown in red and the next subgoal is shown in blue.
3D View
(avi, 5.5 Mb)

3D view of house motion planner. We are planning the motion of
the music stand (near the center of the image).

Probablilistic Roadmap Planner

 2D Benchmark 1
(avi, 3.9 Mb)
(mpg, 2.0 Mb)

An image of a 3DOF planning environment. The robot (in red)
moves from the lower left corner, through the channel to the upper
right corner.
2D Benchmark 2
(avi, 8.4 Mb)
(mpg, 6.0 Mb)

An image of a 2DOF planning environment. The robot navigates
a very long narrow passage, the entire maze, from the current
position to the open area in the upper left.
2D Benchmark 3
(avi, 3.6 Mb)
(mpg, 2.6 Mb)

An image of a 3DOF planning environment. The robot, a music
stand must navigate a large model (approx 12,000 polygons).
3D Benchmark 1
(avi, 3.7 Mb)
(mpg, 0.9 Mb)

A simple 6DOF planning environment. The red block must move
from the top to bottom area via the straight tube.
3D Benchmark 2
(avi, 9.0 Mb)
(mpg, 4.6 Mb)

A 6DOF that appears similar to that of Benchmark 4. However,
the cspace has tighter narrow passages due to the relatively few
number of valid angles in the elbow joints.
3D Benchmark 3
(avi, 10.1 Mb)
(mpg, 2.0 Mb)

A complex 6DOF environment (approx 2200 polygons). The goal
is to move the piano through the window.