Interactive visualization of 3D configuration spaces

Justin Stoecker, Victor Milenkovic

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


We present a tool that enables interactive exploration of the configuration space of a planar robot that navigates static obstacles. The robot and obstacle boundaries consist of circular edges, and our visualization provides both 2D and 3D views of the contact surfaces of these objects. We work from an exact parametric representation of the free space boundary and construct a triangle mesh approximation that is used for interactive rendering.

Original languageEnglish (US)
Title of host publicationProceedings of the 29th Annual Symposium on Computational Geometry, SoCG 2013
PublisherAssociation for Computing Machinery
Number of pages2
ISBN (Print)9781450320313
StatePublished - Jan 1 2013
Event29th Annual Symposium on Computational Geometry, SoCG 2013 - Rio de Janeiro, Brazil
Duration: Jun 17 2013Jun 20 2013

Publication series

NameProceedings of the Annual Symposium on Computational Geometry


Other29th Annual Symposium on Computational Geometry, SoCG 2013
CityRio de Janeiro


  • Configuration space
  • Interactive
  • Triangulation
  • Visualization

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Geometry and Topology
  • Computational Mathematics


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