• Publications
  • Influence
Reciprocal n-Body Collision Avoidance
This paper presents a formal approach to reciprocal n-body collision avoidance, where multiple mobile robots need to avoid collisions with each other while moving in a common workspace, and derives sufficient conditions for collision-free motion by reducing the problem to solving a low-dimensional linear program. Expand
OBBTree: a hierarchical structure for rapid interference detection
A data structure and an algorithm for efficient and exact interference detection amongst complex models undergoing rigid motion that can robustly and accurately detect all the contacts between large complex geometries composed of hundreds of thousands of polygons at interactive rates are presented. Expand
Reciprocal Velocity Obstacles for real-time multi-agent navigation
This paper applies the "Reciprocal Velocity Obstacle" concept to navigation of hundreds of agents in densely populated environments containing both static and moving obstacles, and shows that real-time and scalable performance is achieved in such challenging scenarios. Expand
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
An exact and interactive collision detection system for large-scale environments, I-COLLIDE, based on pruning multiple-object pairs using bounding boxes and performing exact collision detection between selected pairs of polyhedral models. Expand
Fast BVH Construction on GPUs
Preliminary results show that current GPU architectures can compete with CPU implementations of hierarchy construction running on multicore systems and can construct hierarchies of models with up to several million triangles and use them for fast ray tracing or other applications. Expand
FCL: A general purpose library for collision and proximity queries
We present a new collision and proximity library that integrates several techniques for fast and accurate collision checking and proximity computation. Our library is based on hierarchicalExpand
Fast Proximity Queries with Swept Sphere Volumes
We present novel algorithms for fast proximity queries using swept sphere volumes. The set of proximity queries includes collision detection and both exact and approximate separation distanceExpand
Fast computation of generalized Voronoi diagrams using graphics hardware
A new approach for computing generalized 2D and 3D Voronoi diagrams using interpolation-based polygon rasterization hardware is presented and the application of this algorithm to fast motion planning in static and dynamic environments, selection in complex user-interfaces, and creation of dynamic mosaic effects is demonstrated. Expand
Solving systems of polynomial equations
  • D. Manocha
  • Computer Science
  • IEEE Computer Graphics and Applications
  • 1 March 1994
The author presents an algorithm for solving polynomial equations using the combination of multipolynomial resultants and matrix computations, which is efficient, robust and accurate. Expand
Appearance-preserving simplification
A new algorithm is presented that not only does it generate a low-polygon-count approximation of a model, but it also preserves the appearance, and is applied to several large models achieving significant amounts of simplification with little or no loss in rendering quality. Expand