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324
OBBTree: A hierarchical structure for rapid interference detection
 PROC. ACM SIGGRAPH, 171–180
, 1996
"... We present a data structure and an algorithm for efficient and exact interference detection amongst complex models undergoing rigid motion. The algorithm is applicable to all general polygonal and curved models. It precomputes a hierarchical representation of models using tightfitting oriented bo ..."
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Cited by 795 (48 self)
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We present a data structure and an algorithm for efficient and exact interference detection amongst complex models undergoing rigid motion. The algorithm is applicable to all general polygonal and curved models. It precomputes a hierarchical representation of models using tightfitting oriented bounding box trees. At runtime, the algorithm traverses the tree and tests for overlaps between oriented bounding boxes based on a new separating axis theorem, which takes less than 200 operations in practice. It has been implemented and we compare its performance with other hierarchical data structures. In particular, it can accurately detect all the contacts between large complex geometries composed of hundreds of thousands of polygons at interactive rates, almost one order of magnitude faster than earlier methods.
ICOLLIDE: An interactive and exact collision detection system for largescale environments
 In Proc. of ACM Interactive 3D Graphics Conference
, 1995
"... We present an exact and interactive collision detection system, ICOLLIDE, for largescale environments. Such environments are characterized by the number of objects undergoing rigid motion and the complexity of the models. The algorithm does not assume the objects ’ motions can be expressed as a c ..."
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Cited by 312 (25 self)
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We present an exact and interactive collision detection system, ICOLLIDE, for largescale environments. Such environments are characterized by the number of objects undergoing rigid motion and the complexity of the models. The algorithm does not assume the objects ’ motions can be expressed as a closed form function of time. The collision detection system is general and can be easily interfaced with a variety of applications. The algorithm uses a twolevel approach based on pruning multipleobject pairs using bounding boxes and performing exact collision detection between selected pairs of polyhedral models. We demonstrate the performance of the system in walkthrough and simulation environments consisting of a large number of moving objects. In particular, the system takes less than l/20 of a second to determine all the collisions and contacts in an environment consisting of more than a 1000 moving polytopes, each consisting of more than 50 faces on an HP9000/750. 1
PATH PLANNING IN EXPANSIVE CONFIGURATION SPACES
, 1999
"... We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomlysampled milestones. The analysis of expansive configuration spaces has inspired us to develop a new randomized planning algorithm. ..."
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Cited by 255 (35 self)
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We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomlysampled milestones. The analysis of expansive configuration spaces has inspired us to develop a new randomized planning algorithm. This new algorithm tries to sample only the portion of the configuration space that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire configuration space. Thus, it is wellsuited for problems where only a single query is submitted for a given environment. The algorithm has been implemented and successfully applied to complex assembly maintainability problems from the automotive industry.
Larrabee: a manycore x86 architecture for visual computing
 In SIGGRAPH ’08: ACM SIGGRAPH 2008 papers
, 2008
"... Abstract 123 This paper presents a manycore visual computing architecture code named Larrabee, a new software rendering pipeline, a manycore programming model, and performance analysis for several applications. Larrabee uses multiple inorder x86 CPU cores that are augmented by a wide vector proces ..."
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Cited by 242 (12 self)
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Abstract 123 This paper presents a manycore visual computing architecture code named Larrabee, a new software rendering pipeline, a manycore programming model, and performance analysis for several applications. Larrabee uses multiple inorder x86 CPU cores that are augmented by a wide vector processor unit, as well as some fixed function logic blocks. This provides dramatically higher performance per watt and per unit of area than outoforder CPUs on highly parallel workloads. It also greatly increases the flexibility and programmability of the architecture as compared to standard GPUs. A coherent ondie 2 nd level cache allows efficient interprocessor communication and highbandwidth local data access by CPU cores. Task scheduling is performed entirely with software in Larrabee, rather than in fixed function logic. The customizable software graphics rendering pipeline for this
Efficient distance computation between nonconvex objects
 In Proc. IEEE Int. Conf. on Robotics and Automation
, 1994
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The Haptic Display of Complex Graphical Environments
 Proc. of ACM SIGGRAPH
, 1997
"... Force feedback coupled with visual display allows people to interact intuitively with complex virtual environments. For this synergy of haptics and graphics to flourish, however, haptic systems must be capable of modeling environments with the same richness, complexity and interactivity that can be ..."
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Cited by 196 (10 self)
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Force feedback coupled with visual display allows people to interact intuitively with complex virtual environments. For this synergy of haptics and graphics to flourish, however, haptic systems must be capable of modeling environments with the same richness, complexity and interactivity that can be found in existing graphic systems. To help meet this challenge, we have developed a haptic rendering system that allows for the efficient tactile display of graphical information. The system uses a common highlevel framework to model contact constraints, surface shading, friction and texture. The multilevel control system also helps ensure that the haptic device will remain stable even as the limits of the renderer's capabilities are reached. CR Categories and Subject Descriptors: C.3 [Special Purpose and ApplicationBased Systems]: Realtime Systems
A Fast Algorithm for Incremental Distance Calculation
 In IEEE International Conference on Robotics and Automation
, 1991
"... A simple and efficient algorithm for finding the closest points between two convex polyhedra is described here. Data from numerous experiments tested on a broad set of convex polyhedra on ! 3 show that the running time is roughly constant for finding closest points when nearest points are approxim ..."
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Cited by 181 (5 self)
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A simple and efficient algorithm for finding the closest points between two convex polyhedra is described here. Data from numerous experiments tested on a broad set of convex polyhedra on ! 3 show that the running time is roughly constant for finding closest points when nearest points are approximately known and is linear in total number of vertices if no special initialization is done. This algorithm can be used for collision detection, computation of the distance between two polyhedra in threedimensional space, and other robotics problems. It forms the heart of the motion planning algorithm of [1]. 1 Introduction In this paper we present a simple method for finding and tracking the closest points on a pair of convex polyhedra. The method is generally applicable, but is especially well suited to repetitive distance calculation as the objects move in a sequence of small, discrete steps. The method works by finding and maintaining the pair of closest features (vertex, edge, or face)...
On Finding Narrow Passages with Probabilistic Roadmap Planners
, 1998
"... ... This paper provides foundations for understanding the effect of passages on the connectedness of probabilistic roadmaps. It also proposes a new random sampling scheme for finding such passages. An initial roadmap is built in a "dilated" free space allowing some penetration distance of ..."
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Cited by 181 (35 self)
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... This paper provides foundations for understanding the effect of passages on the connectedness of probabilistic roadmaps. It also proposes a new random sampling scheme for finding such passages. An initial roadmap is built in a "dilated" free space allowing some penetration distance of the robot into the obstacles. This roadmap is then modified by resampling around the links that do not lie in the true free space. Experiments show that this strategy allows relatively small roadmaps to reliably capture the free space connectivity