Lie Group Integrators for Animation and Control of Vehicles - Talk (1/4)

This video is a conference presentation of the paper "Lie Group Integrators for Animation and Control of Vehicles" given by Keenan Crane in August 2009 -- see http://www.cs.caltech.edu/~keenan/project_lgiacv.html for more information

Accompanying slides can be found here: http://www.cs.caltech.edu/~keenan/pdf/vehicle_slides_siggraph09.pdf


Lie Group Integrators for Animation and Control of Vehicles
Marin Kobilarov, Keenan Crane, Mathieu Desbrun (Caltech)

Abstract: This paper is concerned with the animation and control of vehicles with complex dynamics such as helicopters, boats, and cars. Motivated by recent developments in discrete geometric mechanics we develop a general framework for integrating the dynamics of holonomic and nonholonomic vehicles by preserving their state-space geometry and motion invariants. We demonstrate that the resulting integration schemes are superior to standard methods in numerical robustness and efficiency, and can be applied to many types of vehicles. In addition, we show how to use this framework in an optimal control setting to automatically compute accurate and realistic motions for arbitrary user-specified constraints.

Category:

Science & Technology

Tags:

• computer graphics
• animation
• simulation
• vehicles
• numerical integration
• optimal control
• Lie groups
• nonholonomic mechancs
• geometric mechanics
• variational principles
• SIGGRAPH
• Caltech

[eternal000sunshine]

Pure Genius.... you have a mind like Nikolai Tesla!