Individual components in an inter-operating system require assurance from other components both of appropriate functionality and of suitable responsiveness. We have developed prope...
This paper challenges the prevailing pessimism about the scalability of partial order planning (POP) algorithms by presenting several novel heuristic control techniques that make ...
In this paper we present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linear...
We present a semi-implicit cloth simulation technique that is very stable yet also responsive. The stability of the technique allows the use of a large fixed time step when simula...