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One of the fundamental tasks characters have to perform is planning their motions
while avoiding collisions with obstacles in the environment. We conduct research
on motion planning for two- and three-dimensional rigid bodies and articulated robots
moving in dynamic virtual environments.
Crowd simulation
We study how to efficiently steer huge crowds of virtual characters in games and simulations through (dynamic) multi-layered environments. 
Norman S. Jaklin, Wouter G. van Toll, Roland Geraerts.
Jordi Janer, Roland Geraerts, Wouter G. van Toll, Jordi Bonada.
Wouter G. van Toll, Atlas F. Cook IV, Roland Geraerts.
Realistic Crowd Simulation with Density-Based Path Planning. ASCI - IPA - SIKS tracks, ICT.OPEN (ICT.OPEN 2012), pp. 3-9, 2012. Full text [pdf] | Presentation [ppt] | Poster [pdf]
Wouter G. van Toll, Atlas F. Cook IV, Roland Geraerts. Ioannis Karamouzas, Roland Geraerts, and A. Frank van der Stappen. Wouter G. van Toll, Atlas F. Cook IV, Roland Geraerts.
Wouter G. van Toll, Atlas F. Cook IV, Roland Geraerts.
Marjan van den Akker, Roland Geraerts, Han Hoogeveen, and Corien Prins.
Marjan van den Akker, Roland Geraerts, Han Hoogeveen, and Corien Prins.
The Corridor Map Method / Indicative Route Method / MIRAN
Current 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 natural, i.e. smooth and short. Our framework, the Corridor Map Method, meets these requirements. 
Norman S. Jaklin, Atlas F. Cook IV, Roland Geraerts.
Roland Geraerts.
José Manuel Cabello, José María Franco, Antonio Collado, Jordi Janer, Samuel Cruz-Lara, David Oyarzun, Albert Armisen, and Roland Geraerts.
Roland Geraerts and Erik Schager.
Ioannis Karamouzas, Roland Geraerts and Mark Overmars.
Roland Geraerts and Mark H. Overmars.
Roland Geraerts and Mark H. Overmars.
Mark H. Overmars, Ioannis Karamouzas and Roland Geraerts.
Roland Geraerts, Arno Kamphuis, Ioannis Karamouzas and Mark H. Overmars.
Roland Geraerts and Mark H. Overmars.
Roland Geraerts.
Comparative studies and analyses
We conduct a comparative study of different techniques that are used in the Probabilistic Roadmap Method. In addition, we give a reachability analysis for sampling based planners which leads to a better understanding of the success of the planners. 
Roland Geraerts and Mark H. Overmars.
Roland Geraerts and Mark H. Overmars.
Roland Geraerts and Mark H. Overmars.
Roland Geraerts and Mark H.Overmars.
Roland Geraerts and Mark H. Overmars.
Roland Geraerts and Mark H. Overmars.
High-quality paths
We present algorithms that increase the quality of a path. That is, we focus on decreasing the path length and increasing the clearance along a path. The techniques can be applied to a broad range of robots which may reside in arbitrary high-dimensional configuration spaces. 
Roland Geraerts and Mark H. Overmars.
Roland Geraerts and Mark H. Overmars.
Roland Geraerts and Mark H. Overmars.
Roland Geraerts and Mark H. Overmars.
High-quality roadmaps
The Reachability Roadmap Method is a new and efficient algorithm that creates small roadmaps for two- and three-dimensional problems. The algorithm ensures that a path can always be found if one exists. We extend the algorithm such that short paths and high-clearance paths can be extracted from the roadmap in real-time. 
Roland Geraerts and Mark H. Overmars.
Roland Geraerts and Mark H. Overmars.
Ph.D. thesis
The thesis deals with comparing and analyzing sampling-based motion planning techniques, in particular variants of the Probabilistic Roadmap Method (PRM). In addition, quality aspects of paths and roadmaps are investigated. 
Roland Geraerts.
Experimental research
In robotics research, it is often difficult to compare and evaluate techniques experimentally. We identify these difficulties and provides solutions based on our work during the last four years in the field of sampling-based motion planning.
Roland Geraerts.
Animation
We study techniques for combining path planning with motion synthesis.
Last update: June 5, 2013.
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In 3rd International Planning in Games Wrkshop (
