The Alcino Cardoso House (first phase: 1971–1973; second phase: 1988–1991), located in northern Portugal, was one of the first interventions in pre-existing buildings undertaken by the Pritzker Prize-winner architect Álvaro Siza (1933) to receive national and international acclaim. The design consisted of the conservation of vernacular farm buildings and their transformation into a holiday home and tourist accommodation. This intervention echoes the concerns of the critical revision of modern architecture in the Portuguese context (the so-called ‘third way’ as coined by Fernando Távora) marked by an innovative reinterpretation of tradition: modern principles such as spatial fluidity, curtain wall glass façade, architectural promenade are introduced while respecting the pre-existence landscape and character by integrating vernacular design principles and construction techniques. This early Álvaro Siza intervention in a rural context has become a reference case-study for the School of Porto architects and provides us with lessons on contemporary reuse of built heritage.

The paper describes the ongoing development of a motion planning system whose aim is to ease the study and development of new planning strategies as well as the benchmarking and comparison of existing ones. The system is implemented using open technologies and exploiting advanced object-oriented programming concepts. It efficiently integrates multiple planning strategies and collision detection algorithms and provides support for diverse geometric formats.