Interactive Visualization of 3D Configuration Spaces

This is 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.

For details on the algorithms and software used to generate the configuration space input for this visualization program, please refer to this website.