Sitterson Hall, Lecture Room 011
Randomized Motion Planning:
From Intelligent CAD to Computer Animation to Protein Folding
Department of Computer Science
ABSTRACT: Motion planning arises in many application domains such as computer animation (digital actors), mixed reality systems and intelligent CAD (virtual prototyping and training), and even computational biology and chemistry (protein folding and drug design). Surprisingly, a single class of planners, called probabilistic roadmap methods (PRMs), have proven effective on problems from all these domains. Strengths of PRMs, in addition to versatility, are simplicity and efficiency, even in high-dimensional configuration spaces.
In this talk, we describe the PRM framework and give an overview of several PRM variants developed in our group. We describe in more detail our work related to virtual prototyping, computer animation, and protein folding. For virtual prototyping, we show that in some cases a hybrid system incorporating both an automatic planner and haptic user input leads to superior results. For computation animation, we describe new PRM-based techniques for planning for deformable objects and for planning sophisticated group behaviors (flocking and herding). We will also describe our recent application of PRMs to protein folding, where, given the native fold, we construct a map of the protein's potential landscape which can be used to study protein folding kinetics. More information regarding our work, including movies, can be found at http://parasol.tamu.edu/people/amato/
BIOGRAPHY: Nancy M. Amato is an associate professor of
Computer Science at