We describe a graphics processing unit (GPU)-based computational platform for six-dimensional configuration mapping, which is the description of the configuration space of rigid motions in terms of collision and contact constraints. The platform supports a wide range of computations in design and manufacturing, including three- and six-dimensional configuration space obstacle computations, Minkowski sums and differences, packaging problems, and sweep computations. We demonstrate dramatic performance improvements in the special case of configuration space operations that determine interference-free or containment-preserving configurations between moving solids. Our approach treats such operations as convolutions in the six-dimensional configuration space that are efficiently computed using the fast Fourier transform (FFT). The inherent parallelism of FFT algorithms facilitates a straightforward implementation of convolution on GPUs with existing and freely available libraries, making all such configuration space computations practical, and often interactive.
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e-mail: saigopal@gmail.com
e-mail: mikolalysenko@gmail.com
e-mail: vshapiro@engr.wisc.edu
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June 2012
Research Papers
Rapid Mapping and Exploration of Configuration Space
Saigopal Nelaturi,
Saigopal Nelaturi
Spatial Automation Laboratory,
e-mail: saigopal@gmail.com
University of Wisconsin-Madison
, 1513 University Avenue, Madison, WI 53706
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Mikola Lysenko,
Mikola Lysenko
Spatial Automation Laboratory,
e-mail: mikolalysenko@gmail.com
University of Wisconsin-Madison
, 1513 University Avenue, Madison, WI 53706
Search for other works by this author on:
Vadim Shapiro
Vadim Shapiro
Spatial Automation Laboratory,
e-mail: vshapiro@engr.wisc.edu
University of Wisconsin-Madison
, 1513 University Avenue, Madison, WI 53706
Search for other works by this author on:
Saigopal Nelaturi
Spatial Automation Laboratory,
University of Wisconsin-Madison
, 1513 University Avenue, Madison, WI 53706e-mail: saigopal@gmail.com
Mikola Lysenko
Spatial Automation Laboratory,
University of Wisconsin-Madison
, 1513 University Avenue, Madison, WI 53706e-mail: mikolalysenko@gmail.com
Vadim Shapiro
Spatial Automation Laboratory,
University of Wisconsin-Madison
, 1513 University Avenue, Madison, WI 53706e-mail: vshapiro@engr.wisc.edu
J. Comput. Inf. Sci. Eng. Jun 2012, 12(2): 021007 (9 pages)
Published Online: May 14, 2012
Article history
Received:
September 5, 2011
Revised:
November 17, 2011
Online:
May 14, 2012
Published:
May 14, 2012
Citation
Nelaturi, S., Lysenko, M., and Shapiro, V. (May 14, 2012). "Rapid Mapping and Exploration of Configuration Space." ASME. J. Comput. Inf. Sci. Eng. June 2012; 12(2): 021007. https://doi.org/10.1115/1.4005776
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