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Mark Overmars

Also published under: M. H. Overmars, M. Overmars, Mark H. Overmars

Publications
36
Citations
5,559
Publications by Year
19882012
Co-Authors:
Show All Co-Authors (24)
Image of author Mark Overmars

Mark Overmars

Also published under: M. H. Overmars, M. Overmars, Mark H. Overmars

Affiliation

Department of Information and Computing Sciences
University of Utrecht
Utrecht, Netherlands

Publication Topics

Biography

Mark Overmars received the PhD degree in computer science from Utrecht University in the Netherlands in 1983. Currently, he is a full professor at the Department of Computer Science at the same university. His main research interests include path planning, crowd modeling, animation, virtual environments, and game design. Over the past years, he published more than 250 papers in refereed journals and conferences, and he is author of one of the prime textbooks on computational geometry.(Based on document published on 28 July 2011).
Publications
36
Citations
5,559
Publications by Year
19882012
Co-Authors:
Show All Co-Authors (24)
Author's Published Works

Showing 1-25 of 36 results

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Simulating and Evaluating the Local Behavior of Small Pedestrian Groups

Ioannis Karamouzas;Mark Overmars

IEEE Transactions on Visualization and Computer Graphics
Year: 2012 | Volume: 18, Issue: 3 | Journal Article |
Cited by: Papers (89)
Recent advancements in local methods have significantly improved the collision avoidance behavior of virtual characters. However, existing methods fail to take into account that in real life pedestrians tend to walk in small groups, consisting mainly of pairs or triples of individuals. We present a novel approach to simulate the walking behavior of such small groups. Our model describes how group ...Show More

Simulating and Evaluating the Local Behavior of Small Pedestrian Groups

Ioannis Karamouzas;Mark Overmars

Year: 2012 | Volume: 18, Issue: 3 | Journal Article |

Density constraints for crowd simulation

Ioannis Karamouzas;Jiri Bakker;Mark H. Overmars

2009 International IEEE Consumer Electronics Society's Games Innovations Conference
Year: 2009 | Conference Paper |
Cited by: Papers (3)
Virtual worlds are nowadays commonly used in interactive applications, like computer games and simulations. Typically, such worlds are populated by a large number of virtual characters. On one hand, these characters have global goals with respect to the environment and thus, they must be able to plan their paths toward their desired locations. On the other hand, they should try to avoid collisions...Show More

Density constraints for crowd simulation

Ioannis Karamouzas;Jiri Bakker;Mark H. Overmars

Year: 2009 | Conference Paper |

Kinodynamic motion planning on roadmaps in dynamic environments

Jur van den Berg;Mark Overmars

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2007 | Conference Paper |
In this paper we present a new method for kinodynamic motion planning in environments that contain both static and moving obstacles. We present an efficient two-stage approach: in the preprocessing phase, it constructs a roadmap that is collision-free with respect to the static obstacles and encodes the kinematic constraints on the robot. In the query phase, it plans a time-optimal path on the roa...Show More

Kinodynamic motion planning on roadmaps in dynamic environments

Jur van den Berg;Mark Overmars

Year: 2007 | Conference Paper |

Efficient path planning in changing environments

Dennis Nieuwenhuisen;Jur van den Berg;Mark Overmars

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2007 | Conference Paper |
Cited by: Papers (6)
This paper addresses the problem of path planning in environments in which some of the obstacles can change their positions. It uses the popular PRM method for navigating a robot through an environment. One of the key features of PRM is that it moves the major part of the calculations involved in the path planning process to the preprocessing phase. After that, paths can be extracted very quickly ...Show More

Efficient path planning in changing environments

Dennis Nieuwenhuisen;Jur van den Berg;Mark Overmars

Year: 2007 | Conference Paper |

Pushing a Disk Using Compliance

Dennis Nieuwenhuisen;A. Frank van der Stappen;Mark H. Overmars

IEEE Transactions on Robotics
Year: 2007 | Volume: 23, Issue: 3 | Journal Article |
Cited by: Papers (14)
This paper addresses the problem of maneuvering an object by pushing it through an environment with obstacles. Instead of only pushing the object through open areas, we also allow it to use compliance, e.g., allowing it to slide along obstacle boundaries. Using compliance has a number of advantages: it extends the number of situations in which a manipulation plan can be found, it allows for simple...Show More

Pushing a Disk Using Compliance

Dennis Nieuwenhuisen;A. Frank van der Stappen;Mark H. Overmars

Year: 2007 | Volume: 23, Issue: 3 | Journal Article |

The Corridor Map Method: Real-Time High-Quality Path Planning

Roland Geraerts;Mark H. Overmars

Proceedings 2007 IEEE International Conference on Robotics and Automation
Year: 2007 | Conference Paper |
Cited by: Papers (18)
A central problem in robotics is planning a collision-free path for a moving object in an environment with obstacles. Contemporary applications require a path planner that is fast (to ensure real-time interaction with the environment) and flexible (to avoid local hazards). In addition, paths need to be smooth and short. We propose a new framework, the corridor map method, which meets these require...Show More

The Corridor Map Method: Real-Time High-Quality Path Planning

Roland Geraerts;Mark H. Overmars

Year: 2007 | Conference Paper |

Creating High-quality Roadmaps for Motion Planning in Virtual Environments

Roland Geraerts;Mark H. Overmars

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2006 | Conference Paper |
Cited by: Papers (31)
Our goal is to create road maps that are particularly suited for motion planning in virtual environments. We use our reachability roadmap method to compute an initial, resolution complete roadmap. This roadmap is small which keeps query times and memory consumption low. However, for use in virtual environments, there are additional criteria that must be satisfied. In particular, we require that th...Show More

Creating High-quality Roadmaps for Motion Planning in Virtual Environments

Roland Geraerts;Mark H. Overmars

Year: 2006 | Conference Paper |

Pushing using compliance

D. Nieuwenhuisen;A.F. van der Stappen;M.H. Overmars

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
Year: 2006 | Conference Paper |
Cited by: Papers (3)
This paper addresses the problem of maneuvering an object by pushing it through an environment with obstacles. Instead of only pushing the object through open spaces, we also allow it to use compliance, e.g. allowing it to slide along obstacle boundaries. The advantage of using compliance is twofold: compliance does not only extend the number of situations in which a push plan can be found, it als...Show More

Pushing using compliance

D. Nieuwenhuisen;A.F. van der Stappen;M.H. Overmars

Year: 2006 | Conference Paper |

Reachability Analysis of Sampling Based Planners

R. Geraerts;M.H. Overmars

Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Year: 2005 | Conference Paper |
Cited by: Papers (12)
The last decade, sampling based planners like the Probabilistic Roadmap Method have proved to be successful in solving complex motion planning problems. We give a reachability based analysis for these planners which leads to a better understanding of the success of the approach and enhancements of the techniques suggested. This also enables us to study the effect of using new local planners.Show More

Reachability Analysis of Sampling Based Planners

R. Geraerts;M.H. Overmars

Year: 2005 | Conference Paper |

Path planning for pushing a disk using compliance

D. Nieuwenhuisen;A.F. van der Stappen;M.H. Overmars

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2005 | Conference Paper |
Cited by: Papers (13)
We consider the path planning problem for a robot that pushes a disk shaped object in an environment among obstacles. Instead of only allowing the object to move through the free space, we also allow the object to slide along the boundaries of the environment using compliance, extending the possibilities for the robot to find a push path. We present an exact algorithm that, given a path for the ob...Show More

Path planning for pushing a disk using compliance

D. Nieuwenhuisen;A.F. van der Stappen;M.H. Overmars

Year: 2005 | Conference Paper |

On improving the clearance for robots in high-dimensional configuration spaces

R. Geraerts;M.H. Overmars

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2005 | Conference Paper |
Cited by: Papers (14)
In robot motion planning, many algorithms have been proposed that create a path for a robot in an environment with obstacles. Since it can be hard to create such paths, most algorithms are aimed at finding a solution. However, for most applications the paths must be of a good quality as well. That is, paths should preferably be short, be smooth, and should preserve some clearance from the obstacle...Show More

On improving the clearance for robots in high-dimensional configuration spaces

R. Geraerts;M.H. Overmars

Year: 2005 | Conference Paper |

Creating robust roadmaps for motion planning in changing environments

J.P. van den Berg;D. Nieuwenhuisen;L. Jaillet;M.H. Overmars

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2005 | Conference Paper |
Cited by: Papers (22)
In this paper we introduce a method based on the probabilistic roadmap (PRM) planner to construct robust roadmaps for motion planning in changing environments. PRM's are usually aimed at static environments. In reality though, many environments are not static, but contain moving obstacles as well. Often the motion of these obstacles is not unconstrained, but is restricted to some confined area, e....Show More

Creating robust roadmaps for motion planning in changing environments

J.P. van den Berg;D. Nieuwenhuisen;L. Jaillet;M.H. Overmars

Year: 2005 | Conference Paper |

Prioritized motion planning for multiple robots

J.P. van den Berg;M.H. Overmars

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2005 | Conference Paper |
In this paper we address the problem of motion planning for multiple robots. We introduce a prioritized method, based on a powerful method for motion planning in dynamic environments, recently developed by the authors. Our approach is generically applicable: there is no limitation on the number of degrees of freedom of each of the robots, and robots of various types - for instance free-flying robo...Show More

Prioritized motion planning for multiple robots

J.P. van den Berg;M.H. Overmars

Year: 2005 | Conference Paper |

Roadmap-based motion planning in dynamic environments

J.P. van den Berg;M.H. Overmars

IEEE Transactions on Robotics
Year: 2005 | Volume: 21, Issue: 5 | Journal Article |
In this paper, a new method is presented for motion planning in dynamic environments, that is, finding a trajectory for a robot in a scene consisting of both static and dynamic, moving obstacles. We propose a practical algorithm based on a roadmap that is created for the static part of the scene. On this roadmap, an approximately time-optimal trajectory from a start to a goal configuration is comp...Show More

Roadmap-based motion planning in dynamic environments

J.P. van den Berg;M.H. Overmars

Year: 2005 | Volume: 21, Issue: 5 | Journal Article |

Learning object-oriented design by creating games

M. Overmars

IEEE Potentials
Year: 2005 | Volume: 23, Issue: 5 | Magazine Article |
Cited by: Papers (13)
Playing computer games is a popular recreational activity for young people. Creating a state-of-the-art commercial computer game is an incredibly difficult task. Writing a game like Pac-Man from scratch in a modern programming language is still difficult. Fortunately, several currently available tools make game creation easier. These tools can be used to create more complex games, but they offer o...Show More

Learning object-oriented design by creating games

M. Overmars

Year: 2005 | Volume: 23, Issue: 5 | Magazine Article |

Roadmap-based motion planning in dynamic environments

J.P. van den Berg;M.H. Overmars

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
Year: 2004 | Conference Paper |
Cited by: Papers (9)
In this paper a new method is presented for motion planning in dynamic environments, that is, finding a trajectory for a robot in a scene consisting of both static and dynamic, moving obstacles. We propose a practical algorithm based on a roadmap that is created for the static part of the scene. On this roadmap an approximate time-optimal trajectory from a start to a goal configuration is computed...Show More

Roadmap-based motion planning in dynamic environments

J.P. van den Berg;M.H. Overmars

Year: 2004 | Volume: 2 | Conference Paper |

Teaching computer science through game design

M. Overmars

Computer
Year: 2004 | Volume: 37, Issue: 4 | Magazine Article |
Cited by: Papers (86)
Playing computer games is a popular recreational activity for young people. Not surprisingly, many of these enthusiasts dream that one day they will develop computer games themselves. Developing computer games involves many aspects of computing, including computer graphics, artificial intelligence, human-computer interaction, security, distributed programming, simulation, and software engineering....Show More

Teaching computer science through game design

M. Overmars

Year: 2004 | Volume: 37, Issue: 4 | Magazine Article |

Clearance based path optimization for motion planning

R. Geraerts;M.H. Overmars

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Year: 2004 | Conference Paper |
Cited by: Papers (35)
Many motion planning techniques, like the probabilistic roadmap method (PRM), generate low quality paths. In this paper, we study a number of different quality criteria on paths in particular length and clearance. We describe a number of techniques to improve the quality of paths. These are based on a new approach to increase the path clearance. Experiments showed that the heuristics were able to ...Show More

Clearance based path optimization for motion planning

R. Geraerts;M.H. Overmars

Year: 2004 | Volume: 3 | Conference Paper |

Using workspace information as a guide to non-uniform sampling in probabilistic roadmap planners

J.P. van den Berg;M.H. Overmars

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Year: 2004 | Conference Paper |
Cited by: Papers (23)
The probabilistic roadmap (PRM) planner is a popular method for robot motion planning problems with many degrees of freedom. However, it has been shown that the method performs less well in situations where the robot has to pass through a narrow passage in the scene. This is mainly due to the uniformity of the sampling used in the planner; it places many samples in large open regions and too few i...Show More

Using workspace information as a guide to non-uniform sampling in probabilistic roadmap planners

J.P. van den Berg;M.H. Overmars

Year: 2004 | Volume: 1 | Conference Paper |

Useful cycles in probabilistic roadmap graphs

D. Nieuwenhuisen;M.H. Overmars

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Year: 2004 | Conference Paper |
Cited by: Papers (47)
Over the last decade, the probabilistic road map method (PRM) has become one of the dominant motion planning techniques. Due to its random nature, the resulting paths tend to be much longer than the optimal path despite the development of numerous smoothing techniques. Also, the path length varies a lot every time the algorithm is executed. We present a new technique that results in higher quality...Show More

Useful cycles in probabilistic roadmap graphs

D. Nieuwenhuisen;M.H. Overmars

Year: 2004 | Volume: 1 | Conference Paper |

Motion planning for coherent groups of entities

A. Kamphuis;M.H. Overmars

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Year: 2004 | Conference Paper |
Cited by: Papers (11)
Motion planning for multiple entities is a challenging problem in today's virtual environments. In this paper we develop an innovative approach to motion planning for groups of entities, where coherence is taken into account. We model the group by a deformable shape. Next, we use the Probabilistic Roadmap Method to plan the (global) motion of the shape. For this, we, develop new sampling technique...Show More

Motion planning for coherent groups of entities

A. Kamphuis;M.H. Overmars

Year: 2004 | Volume: 4 | Conference Paper |

Motion planning for camera movements

D. Nieuwenhuisen;M.H. Overmars

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Year: 2004 | Conference Paper |
Moving a camera through a (virtual or real) environment is a complicated task. Often a user is given direct control of the camera. Such direct control is difficult for inexperienced users and results in rather ugly camera motions that easily lead to motion sickness. In this paper we describe a new technique for automatic generation of camera motion using motion planning techniques from robotics. W...Show More

Motion planning for camera movements

D. Nieuwenhuisen;M.H. Overmars

Year: 2004 | Volume: 4 | Conference Paper |

Sensorless orientation of 3D polyhedral parts

R.-P. Berretty;M.H. Overmars;A.F. van der Stappen

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
Year: 2002 | Conference Paper |
Cited by: Papers (1)
A common task in automated manufacturing processes is to orient parts prior to assembly. We consider sensorless orientation of an asymmetric polyhedral part by a sequence of push actions, and show that is it possible to move any such part from an unknown initial orientation into a known final orientation if these actions are performed by a jaw consisting of two orthogonal planes. We also show how ...Show More

Sensorless orientation of 3D polyhedral parts

R.-P. Berretty;M.H. Overmars;A.F. van der Stappen

Year: 2002 | Volume: 2 | Conference Paper |

Fixturing hinged polygons

Jae-Sook Cheong;K. Goldberg;M.H. Overmars;A.F. van der Stappen

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
Year: 2002 | Conference Paper |
Cited by: Papers (7)
We study the problem of fixturing a chain of hinged objects in a given placement with frictionless point contacts. We define the notions of immobility and robust immobility - which are comparable to the second and first order immobility for a single object - to capture the intuitive requirement for the fixture of a chain of hinged objects. Robust immobility differs from immobility in that it addit...Show More

Fixturing hinged polygons

Jae-Sook Cheong;K. Goldberg;M.H. Overmars;A.F. van der Stappen

Year: 2002 | Volume: 1 | Conference Paper |

Motion planning in environments with danger zones

D. Sent;M.H. Overmars

Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
Year: 2001 | Conference Paper |
Cited by: Papers (8)
This paper addresses the problem of path planning for a free-flying object in a (three-dimensional) environment that contains both obstacles and so-called danger zones. The path should (obviously) avoid collisions with the obstacles. The path is allowed to intersect with the danger zones, but this should be avoided as much as possible. We show that under some mild conditions, a path always exists ...Show More

Motion planning in environments with danger zones

D. Sent;M.H. Overmars

Year: 2001 | Volume: 2 | Conference Paper |

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