Summary of Research

Over the past few years, graphics hardware (GPU) has improved in performance at a rate greater than that of the general CPUs. However, much of this computing power has gone unused. My research has been looking at various areas in which this hardware can be used to accelerate and solve difficult problems. Currently, I have been examining applications to physical simulation and its use for a class of problems related to robot motion planning. These problems provide an interesting blend of situations where geometric, kinematics, dynamics, and motion constraints are necessary and must satisfied simultaneously. Thus far, we have been able to provide practical solutions to problems that are usually considered intractable due to their complexity. We hope to generalize our solutions to a wider class of problems, generalizing a scalable framework for solving the problems, and finally show the usefulness of GPUs, or other highly parallelizable hardware, in solving complex problems related to physical simulation.

Publications

Efficient Motion Planning of Highly Articulated Chains Using Physics-based Sampling
Russell Gayle, Stephane Redon, Avneesh Sud, Ming C. Lin, Dinesh Manocha
International Conference on Robotics and Automation (ICRA), 2007

Lazy Reconfiguration Forests (LRF): An Approach for Motion Planning with Multiple Tasks in Dynamic Environments
Russell Gayle, Kristopher Klingler, Patrick G. Xavier
International Conference on Robotics and Automation (ICRA), 2007

Reactive Deforming Roadmaps: Motion Planning of Multiple Robots in Dynamic Environments
Russell Gayle, Avneesh Sud, Ming C. Lin, Dinesh Manocha
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007

Real-time Navigation of Independent Agents Using Adaptive Roadmaps
Avneesh Sud, Russell Gayle, Stephen Guy, Erik Andersen, Ming C. Lin, Dinesh Manocha
Proc. ACM Symposium VRST, 2007

Surface Distace Maps
Avneesh Sud, Naga K. Govindaraju, Russell Gayle, Erik Andersen, Dinesh Manocha
Graphics Interface, 2007

Adaptive Dynamics with Efficient Contact Handling for Articulated Robots
Russell Gayle, Ming C. Lin, Dinesh Manocha
Robotics: Science and Systems, 2006

Fast Proximity Computation Among Deformable Models using Discrete Voronoi Diagrams
Avneesh Sud, Naga K. Govindaraju, Russell Gayle, Ilknur Kabul, Dinesh Manocha
ACM Transactions on Graphics (Proc ACM SIGGRAPH), 2006

Interactive 3D Distance Field Computation using Linear Factorization
Avneesh Sud, Naga K. Govindaraju, Russell Gayle, Dinesh Manocha
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games (I3D), 2006

Constraint-Based Motion Planning of Deformable Robots
Russell Gayle, Ming C. Lin, Dinesh Manocha
Proc. of IEEE International Conference on Robotics and Automation, 2005

Interactive Collision Detection between Deformable Models using Chromatic Decomposition
Naga K. Govindaraju, David Knott, Nitin Jain, Ilknur Kabul, Rasmus Tamstorf, Russell Gayle, Ming C. Lin, Dinesh Manocha
ACM SIGGRAPH, 2005

Path Planning for Deformable Robots in Complex Environments
Russell Gayle, William Segars, Ming C. Lin, Dinesh Manocha
Proc. of Robotics: Science and Systems, 2005

Quick VDR: Out-of-Core View-Dependent Rendering of Gigantic Models
Sung-Eui Yoon, Brian Salomon, Russell Gayle, Dinesh Manocha
IEEE Trans. On Visualization and Computer Graphics, 2005

Accelerating Line of Sight Computation Using Graphics Processing Units
Brian Salomon, Naga K. Govindaraju, Avneesh Sud, Russell Gayle, Ming C. Lin, Dinesh Manocha
Proc. of Army Science Conference, 2004

Quick-VDR: Interactive View-Dependent Rendering of Massive Models
Sung-Eui Yoon, Brian Salomon, Russell Gayle, Dinesh Manocha
IEEE Visualization, 2004