This page gives a roughly reverse chronoligical summary (order: left-to-right, then down) of some of my research. Click on any of the pictures to go to the corresponding page for the topic. The topics in bold indicate research which was published.

	motion planning with viability filtering		RRT-blossom		discovery of "optimal" metric
	capturing metrics using octrees		landmark-based motion planning for bikes		"sketch"-based motion planning
	decision surface encoding using "opposing NN pairs"		better NN-based decision surfaces		viability envelopes
	auto-discovery of viability envelopes		grasp-based motion planning for human characters