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Physically Realistic 3D Virtual World Interface for Motion Planning

This project aims to develop an interface that enables physically realistic motion planning in 3D virtual worlds. The system utilizes game engines, components, a model database, AI (motion planning), and a user game engine interface to simulate physics-based motion and visualization. It incorporates the Open Racing Car Simulator (TORCS) software, Open Dynamics Engine (ODE), OpenSceneGraph, and supports front wheel turning and rear wheel drive. The project builds upon the work of Jean Claude Latombe and Kostas Bekris to address the limitations of geometric paths in motion planning and aims to provide a higher-dimensional solution with more constraints.

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Physically Realistic 3D Virtual World Interface for Motion Planning

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  1. Kostas Bekris University of Nevada, Reno CS 425/625 Interface for Motion Planning In Physically Realistic 3D Virtual Worlds September 22, 2008

  2. Game Engines

  3. Components Model Database AI (Motion Planning) User Game Engine Interface Physics-based Simulation Visualization Software

  4. Physics-based Simulation Car model and racing track from: “The Open Racing Car Simulator” (TORCS) Software: Open Dynamics Engine (ODE) and OpenSceneGraph Front wheels turn Rear wheel drive

  5. Motion Planning Industrial Manipulation Simulation Jean Claude Latombe Stanford Geometric Puzzles Kostas Bekris James Kuffner CMU

  6. Physically Realistic Motion Planning Geometric Paths are not Sufficient • Lack of Physical Realism • Cannot be easily followed

  7. Physically Realistic Motion Planning • Trajectory Planning: • Higher-Dimensional Problem • More constrains

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