Project : Path Planning

1. Implemented algorithms for computing configuration spaces for polyhera where a robot can translate and rotate with three degrees of freedom.

2. Implemented data structures for geometric representation of configuration spaces.

3. Implemented procedures for computing arrangement, subdivision of contact surfaces, computation of cells, and accumulating cells into free space objects.

4. Implemented functionality for subdividing the configuration spaces so that conflict free paths can be computed efficiently.

5. Implemented an opengl interface for the algorithm for testing purposes.

1. Implemented voxelized isotropic offset operations used for simulating low pressure deposition.

2. Implemented xs-etch operations for simulating reactive ion etching in the fabrication process.

3. Extended inhouse shared oct -tree library for implementing the operations mentioned above.

4. Implemented visualization tools for generated output.