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- Stefan Gottschalk, Ming C. Lin, Dinesh Manocha
- SIGGRAPH
- 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 models. It pre-computes a hierarchical representation of models using tight-fitting oriented bounding box trees (OBBTrees). At runtime, the algorithm traverses two… (More)

In this paper, we present 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. In our formulation, each robot acts fully independently, and does not communicate with other robots. Based on the definition of velocity obstacles [5], we derive… (More)

we present an exact and interactive collision detection system, I-COLLIDE, for large-scale 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… (More)

- Jur P. van den Berg, Ming C. Lin, Dinesh Manocha
- 2008 IEEE International Conference on Robotics…
- 2008

In this paper, we propose a new concept - the "Reciprocal Velocity Obstacle"- for real-time multi-agent navigation. We consider the case in which each agent navigates independently without explicit communication with other agents. Our formulation is an extension of the Velocity Obstacle concept [3], which was introduced for navigation among (passively)… (More)

- Kenneth E. Hoff, Tim Culver, John Keyser, Ming C. Lin, Dinesh Manocha
- Symposium on Computational Geometry
- 1999

We present a new approach for computing generalized Voronoi diagrams in two and three dimensions using interpolation-based polygon rasterization hardware. The input primitives may be points, lines, polygons, curves, or surfaces. The algorithm computes a discrete Voronoi diagram by rendering a three dimensional distance mesh corresponding to each primitive.… (More)

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 distance computation. We introduce a new family of bounding volumes that correspond to a core primitive shape grown outward by some o set. The set of core primitive shapes… (More)

- Christian Lauterbach, Michael Garland, Shubhabrata Sengupta, David P. Luebke, Dinesh Manocha
- Comput. Graph. Forum
- 2009

We present two novel parallel algorithms for rapidly constructing bounding volume hierarchies on manycore GPUs. The first uses a linear ordering derived from spatial Morton codes to build hierarchies extremely quickly and with high parallel scalability. The second is a top-down approach that uses the surface area heuristic (SAH) to build hierarchies… (More)

- Jonathan D. Cohen, Amitabh Varshney, +5 authors William V. Wright
- SIGGRAPH
- 1996

We propose the idea of simplification envelopes for generating a hierarchy of level-of-detail approximations for a given polygonal model. Our approach guarantees that all points of an approximation are within a user-specifiable distance from the original model and that all points of the original model are within a distance from the approximation.… (More)

- William V. Baxter, Vincent Scheib, Ming C. Lin, Dinesh Manocha
- SIGGRAPH
- 2001

We present a novel painting system with an intuitive haptic interface, which serves as an expressive vehicle for interactively creating painterly works. We introduce a deformable, 3D brush model, which gives the user natural control of complex brush strokes. The force feedback enhances the sense of realism and provides tactile cues that enable the user to… (More)

- Hansong Zhang, Dinesh Manocha, Tom Hudson, Kenneth E. Hoff
- SIGGRAPH
- 1997

We present hierarchical occlusion maps (HOM) for visibility culling on complex models with high depth complexity. The culling algorithm uses an object space bounding volume hierarchy and a hierarchy of image space occlusion maps. Occlusion maps represent the aggregate of projections of the occluders onto the image plane. For each frame, the algorithm… (More)