Tree-based path planners have been shown to be well suited to solve various high
dimensional motion planning problems. Here we present a variant of the Rapidly-Exploring …

We present a novel optimization-based retraction algorithm to improve the performance of
sample-based planners in narrow passages for 3D rigid robots. The retraction step is …

We present a fast continuous collision detection (CCD) algorithm for articulated models
using Taylor models and temporal culling. Our algorithm is a generalization of conservative …

Automatic motion planning has applications ranging from traditional robotics to computer-
aided design to computational biology and chemistry. While randomized planners, such as …

Classical RRT algorithm is blind to efficiently explore configuration space for expanding the
tree through a narrow passage when solving a motion planning (MP) problem. Although …

We present a novel randomized path planner for rigid robots to efficiently handle various
environments that have different characteristics. We first present a bridge line test that can …

We present a novel retraction-based planner, selective retraction-based RRT, for efficiently
handling a wide variety of environments that have different characteristics. We first present a …

We present a route planning algorithm for cable and wire layouts in complex environments.
Our algorithm precomputes a global roadmap of the environment by using a variant of the …

We present a simple and fast algorithm to perform continuous collision detection between
polygonal models undergoing rigid motion for interactive applications. Our approach can …

We present an efficient algorithm to compute the generalized penetration depth (PDg)
between rigid models. Given two overlapping objects, our algorithm attempts to compute the …