CAREER: Building and Searching Data Structures for Spatial Environments

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In recent years geometric modeling and simulation techniques have become essential tools for applications involving physical objects. Although much progress has been made, there are important applications that cannot be realized with current technology. Examples include controlling autonomous robots operating in dynamic situations, training an employee for a dangerous task in a virtual reality environment, and helping an engineer interactively analyze design choices using a threedimensional model of a complex product. The general objective of this research is to design and implement practical algorithms for such applications. Toward this goal, the applicability of techniques developed in the field of computational geometry to the following target applications will be studied: performing robotic path planning and planning manipulation tasks with contact, and analyzing product designs for manufacturability, assembly, and disassembly. The research will be performed in collaboration with an ongoing research effort at Texas A&M in dextrous manipulation and with researchers at GE R&D analyzing product designs for and maintainability. Two educational activities will be undertaken. First, mentoring and general support programs will be initiated for undergraduate and graduate women in the Computer Science Department at Texas A&M. The goal of these programs is to encourage more women to pursue graduate studies and careers in computer science and engineering. Second, group learning methods will be incorporated into undergraduate and graduate courses in theoretical computer science. The change from the standard lecture format is motivated by research that has shown that group learning can increase student interest and help them to understand concepts more fully. ***