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GRASP Seminar Series: Fall 2006
October 13, 11:00 p.m., Wu & Chen Auditorium
Dinesh Manocha
University of North Carolina - Chapel Hill
"Motion Planing for Rigid and Deformable Models"
Abstract:
Motion is ubiquitous in both the real world and synthetic environments.
Representation and computation of motion is central to many disciplines
that
deal with modeling dynamic or kinematic systems in the biological, physical
or virtua world. Besides robotics, this problem arises in interaction
with
objects in the virtual environment, design and assembly of electronic
appliances, animation of articulated figures, manipulation of nano-structures,
surgical simulation, modeling of tissues, etc. However, prior techniques
are
mostly limited to rigid models and are unable to handle narrow spaces.
In this talk, we give an overview of our recent work
on motion planning of
rigid and deformable models. First, we describe new practical algorithms
for path non-existence and use them for complete motion planning of
rigid models. Second, we introduce a new paradigm of physically-based
motion planning, which takes into account kinematic and dynamic constraints
along with non-penetration to generate a physically-realistic motion.
Finally,
we present new Voronoi-based algorithms to perform interactive proximity
queries
between deformable models and use these algorithms for motion planning
of
multiple robots in a complex environment. We highlight the performance
of our
algorithms on pipe layouts, assembly planning, cloth simulation,
planning liver chemoembolization procedures, and crowd simulation.
Joint work with Russ Gayle, Naga Govindaraju, Young Kim, Shankar Krishnan,
Ming C. Lin, Avneesh Sud, Gokul Varadhan and Liangjun Zhang
Biography: Dinesh Manocha is currently
the Mason Distinguished Professor of Computer Science
at the University of North Carolina at Chapel Hill. He received his
Ph.D. in
Computer Science at the University of California at Berkeley 1992. He
received Junior Faculty
Award in 1992, Alfred P. Sloan Fellowship and NSF Career Award in 1995,
Office
of Naval Research Young Investigator Award in 1996, Honda Research Initiation
Award in 1997, and Hettleman Prize for Scholarly Achievements at UNC
Chapel
Hill in 1998. He has also received best paper & panel awards at
the ACM
SuperComputing, ACM Multimedia, IEEE Visualization, ACM Solid
Modeling, Pacific Graphis, IEEE VR and Eurographics Conferences.
His research has been sponsored by ARO, DARPA, DOE, Ford, Honda, Intel,
NSF,
ONR and RDECOM. He has published more than 200 papers in leading conferences
and
journals on computer graphics, geometric and solid modeling, robotics,
symbolic and numeric computation, virtual environments and computational
geometry. He has also served as a program committee member and
program chair for many leading conferences in these areas.
He has also served in the editorial boards of many leading journals.
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Last update:11 October, 2006