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We approach this problem by representing the desired motion as an interpolation of two time-scaled paths through a motion graph. The graph is constructed to support interpolation and pruned for efficient search. We use an anytime version of\n            <jats:italic>A*<\/jats:italic>\n            search to find a globally optimal solution in this graph that satisfies the user's specification. Our approach retains the natural transitions of motion graphs and the ability to synthesize physically realistic variations provided by interpolation. We demonstrate the power of this approach by synthesizing optimal or near optimal motions that include a variety of behaviors in a single motion.\n          <\/jats:p>","DOI":"10.1145\/1276377.1276510","type":"journal-article","created":{"date-parts":[[2007,9,14]],"date-time":"2007-09-14T13:44:55Z","timestamp":1189777495000},"page":"106","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":149,"title":["Construction and optimal search of interpolated motion graphs"],"prefix":"10.1145","volume":"26","author":[{"given":"Alla","family":"Safonova","sequence":"first","affiliation":[{"name":"Carnegie Mellon University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jessica K.","family":"Hodgins","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2007,7,29]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/1028523.1028546"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/566654.566606"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/882262.882284"},{"key":"e_1_2_2_4_1","volume-title":"ACM SIGGRAPH\/Eurographics Symp. on Comp. 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In ACM SIGGRAPH\/Eurographics Symp. on Comp. Animation, 214--224."},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/1015706.1015760"},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/566654.566605"},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1145\/1073368.1073373"},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1145\/1073368.1073408"},{"key":"e_1_2_2_17_1","volume-title":"ACM SIGGRAPH\/Eurographics Symp. on Comp. Animation, 299--308","author":"Lau M.","unstructured":"Lau , M. , and Kuffner , J . 2006. Precomputed search trees: Planning for interactive goal-driven animation . In ACM SIGGRAPH\/Eurographics Symp. on Comp. Animation, 299--308 . Lau, M., and Kuffner, J. 2006. Precomputed search trees: Planning for interactive goal-driven animation. In ACM SIGGRAPH\/Eurographics Symp. on Comp. 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In Advances in Neural Information Processing Systems (NIPS) 16, Cambridge, MA: MIT Press."},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1145\/545261.545279"},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1002\/cav.v15:3\/4"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.5555\/525"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/2945.468392"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/566654.566608"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/1028523.1028536"},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/38.708559"},{"key":"e_1_2_2_29_1","volume-title":"Artificial Intelligence: A Modern Approach.","author":"Russell S.","year":"2003","unstructured":"Russell , S. , and Norvig , P . 2003 . Artificial Intelligence: A Modern Approach. Englewood Cliffs, NJ : Prentice-Hall . Russell, S., and Norvig, P. 2003. Artificial Intelligence: A Modern Approach. 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Srinivasan, M., Metoyer, R. A., and Mortensen, E. N. 2005. Controllable real-time locomotion using mobility maps. 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