Comp 450

Latombe J.C., Motion Planning: A Journey of Robots, Molecules, Digital Actors, and Other Artifacts. International Journal of Robotics Research, 18(11):1119-1128, November 1999.

Halperin, D., Kavraki, L. E., and Latombe, J.C., Robotics.
Handbook of Discrete and Computational Geometry, Editors: G. Goodman, J. O'Rourke pp. 1065-1094, CRC Press, Boca Raton, NY, 2004.

Tsianos, K., Sucan, I., Kavraki, L. E., Sampling-Based Robot Motion Planning: Towards Realistic Applications.
Computer Science Review, 2007.

Lumelsky, V.J., Stepanov, Path Planning Strategies for a Point Mobile Automaton Moving Amidst Unknown Obstacles of Arbitrary Shape

Laubach, S.L., Burdick, J.W., An Autonomous Sensor-Based Path-Planner for Planeta ry Microrovers IEEE Conference on Robotics and Automation (ICRA) 1999

Yoav Gabriely and Elon Rimon, Competitive Disconnection Detection in On-Line Mobile Robot Navigation

Elon Rimon, Daniel E. Koditschek, Exact Robot Navigation Using Artificial Potential Functions, IEEE Transactions on Robotics and Automation, 1992

Elon Rimon, Daniel E. Koditschek, Exact Robot Navigation Using Artificial Potential Functions, IEEE Transactions on Robotics and Automation, 1992

Plaku E., Bekris K.E., Kavraki L.E., OOPS for Motion Planning: An Online Open-source Programming System , IEEE Conference on Robotics and Automation (ICRA) 2007

Barraquand J., Kavraki L.E., Latombe J.-C., Li T.-Y., Motwani R., Raghavan P., A Random Sampling Scheme for Path Planning , Robotics Research, Springer, North Holland, p. 249-264, 1996

Kavraki L.E., Svestka P., Latombe J.-C., Overmars M.H., Probabilistic Roadmaps for Path Planning in High Dimensional Configuration Spaces IEEE Transactions on Robotics and Automation 12(4), 566-580, 1996

Hsu, D., Jiang, T., Reif, J., Sun, Z.The Bridge Test for Sampling Narrow Passages with Probabilistic Roadmap Pl anners, IEEE Conference on Robotics and Automation (ICRA) 2003

Boor, V., Overmars, M.H., Stappen, A.F. van derThe Gaussian Sampling Strategy for Probabilistic Road map Planners, IEEE Conference on Robotics and Automation (ICRA) 1999

Geraerts, R., Overmars, M.H.Sampling Techniques for Probabilistic Roadmap Planners, Conference on Intelligent Autonomous Systems 2004

Bohlin, R., Kavraki, L.E. Path Planning Using Lazy PRM , IEEE Conference on Robotics and Automation (ICRA) 2000

Ladd AM, Kavraki LE, and and van der Erdm ann M. and Hsu (Eds.), Fast Tree-Based Exploration of St ate Space for Robots with Dynamics, Algorithmic Foundations of Robotics VI, 2005

Kuffner J,Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning, IEEE Conference on Robotics and Automation (ICRA) 2004

L.E. Kavraki, J.C. Latombe, R. Motwani, and P. Raghavan. Randomized Query Processing in Robot Motion Planning. ACM SIGACT Symposium on the Theory of Computing (STOC) 1995
A revised version of this paper appeared in Journal of Computer and System Sciences, 1998.

Kavraki L.E., Kolountzakis M.N., Latombe J.-C. Analysis of Probabilistic Roadmaps for Path Planning, IEEE Conference on Robotics and Automation (ICRA) 1996

Ladd A., Kavraki L.E., Measure Theoretic Analysis of Probabilistic Path Planning, IEEE Transactions on Robotics and Automation, 2004

D. Hsu, J.C. Latombe, and R. Motwani. Path Planning in Expansive Configuration Spaces. IEEE Int. Conf. on Robotics and Automation (ICRA), 1997
A revised version of this paper appeared in International Journal of Computational Geometry and Applications, 1999.

LaValle S.M., Kuffner J., Rapidly-Exploring Random Trees: Progress and Prospects, WAFR 2000

D. Hsu, J.C. Latombe, and R. Motwani. Path Planning in Expansive Configuration Spaces. IEEE Int. Conf. on Robotics and Automation (ICRA), 1997 A revised version of this paper appeared in International Journal of Computational Geometry and Applications, 1999.

Sanchez G., Latombe J.-C., A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking, International Symposium on Robotics Research, 2001

Sucan, I A, Kavraki LE. Kinodynamic Motion Planning by Interior-Exterior Cell Exploration. International Workshop on the Algorithmic Foundations of Robotics, 2008.

S. Gottschalk, M. C. Lin and D. Manocha,OBB-Tree: A Hierarchical Structure for Rapid Interference Detection, Proc. of ACM SIGGRAPH 1996. Also available as Technical report TR96-013, Department of Computer Science, University of N. Carolina, Chapel Hill, 1996.

Eric Larsen, Stefan Gottschalk, Ming C. Lin, Dinesh Manocha, Fast Proximity Queries with Swept Sphere Volumes, Proc. of Int. Conf. on Robotics and Automation, April 2000. Also available as Technical report TR99-018, Department of Computer Science, University of N. Carolina, Chapel Hill, 1999.

Kuffner J., Effective Sampling and Distance Metrics for 3D rigid Body Path Planning, IEEE Conference on Robotics and Automation (ICRA) 2004

Quinlan, S., Efficient Distance Computation between Non-Convex Objects, ICRA 1994.

E. G. Gilbert, D. W. Johnson, and S. S. Keerthi, A fast procedure for computing the distance between complex objects in three-dimensional space, IEEE Trans. Robotics & Automation, April 1988.

D. E. Stewart , J.C. Trinkle, Dynamics, Friction, And Complementarity Problems. Proceedings Internat. Conf. Complementarity Problems, 1995.

Ladd, A. M., Lydia E. Kavraki. Motion Planning in the Presence of Drift, Underactuation and Discrete System Changes Robotics: Science and Systems 2005.

Ioan Alexandru Sucan, Lydia E. Kavraki. Kinodynamic Motion Planning by Interior-Exterior Cell Exploration International Workshop on the Algorithmic Foundations of Robotics 2008.

Konstantinos I. Tsianos; Ioan Alexandru Sucan; Lydia E. Kavraki, Sampling-based robot motion planning: Towards realistic applications Computer Science Review, Volume 1, Issue 1, p.2--11 (2007)

Nielsen, C., Kavraki, L.E., A Two-Level Fuzzy PRM for Manipulation Planning. In Proceedings of The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1716-1722, IEEE Press, November 2000.

Koga, Y., Latombe J.C., On Multi-Arm Manipulation Planning Proc. IEEE International Conference on Robotics and Automation, pp. 945-952, 1994.

Koga Y., Kongo K., Kuffner, J., Latombe J.C., Planning Motions with Intentions. Proc. SIGGRAPH'94, pp. 395-408, 1995.

Michael Shamos, Dan Hoey. Geometric Intersection Problems, Proc. 17th Annu. IEEE Symp. Found. Computer Sci., pp.208-215 (1976)

Souvaine, Diane. Line Segment Intersection Using a Sweep Line Algorithm (2008)

Guo, Y., Parker, L.E., A distributed optimal motion planning approach for multiple robots. ICRA 2002.

Yokoo, M., Hirayama, K., Algorithms for distributed constraint satisfaction: a review. Autonomous Agents and Multi-Agent Systems Vol 3, No. 2, 2000.

Vlassis, N., Elhorst, R., Kok, J.R., Anytime algorithms for multiagent decision making using coordination graphs. IEEE Int. Conf. on Systems, Man and Cybernetics, 2004.

Kok, J.R., Vlassis, N., Using the Max-Plus algorithm for multiagent decision making in coordination graphs. Universiteit van Amsterdam (Netherlands), 2005.

Eric Meisner, Wei Yang, and Volkan Isler, Probabilistic Network Formation through Coverage and Freeze-Tag. WAFR 2008.

Erik Halvorson and Ronald Parr, Planning Aims for a Network of Horizontal and Overhead Sensors. WAFR 2008.

Nuzhet Atay and Burchan Bayazit, Mobile Wireless Sensor Network Connectivity Repair with K-Redundancy. WAFR 2008.

Ketan Savla and Emilio Frazzoli, On Endogenous Reconfiguration in Mobile Robotic Networks. WAFR 2008.

Luciano Pimenta, Mac Schwager, Quentin Lindsey, Vijay Kumar, and Daniela Rus, Simultaneous Coverage and Tracking (SCAT) of Moving Targets with Robot Networks. WAFR 2008.

Peng Cheng, Jonathan Fink, Soonkyum Kim, and Vijay Kumar, Cooperative Towing with Multiple Robots. WAFR 2008.

Jur van den Berg, Mike Stilman, James Kuffner, Ming Lin, and Dinesh Manocha, Path Planning among Movable Obstacles: a Probabilistically Complete Approach. WAFR 2008.

N. Michael, J. Fink and V. Kumar, Cooperative manipulation and transportation with aerial robots. RSS 2009.

J. van den Berg, J. Snoeyink, M. Lin and D. Manocha, Centralized path planning for multiple robots: Optimal decoupling into sequential plans. RSS 2009.

A Fast Path Planner for a Car-Like Indoor Mobile Robot. J.C. Latombe. Proc. Ninth National Conference on Artificial Intelligence, Anaheim, CA, pp. 659-665, July 1991. Hard copy available from the instructor.

A collection of papers on nonholonomic motion planning and control can be found here.

A collection of papers on nonholonomic motion planning and control can be found here.

Randomized Kinodynamic Motion Planning with Moving Obstacles. D. Hsu, R. Kindel, J.C. Latombe, S. Rock. The International Journal of Robotics Research, Vol. 21, No. 3, 233-255 (2002).

A collection of papers on nonholonomic motion planning and control can be found here.

Bekris, KE, Glick M, Kavraki LE., Evaluation of Algorithms for Bearing-Only SLAM. ICRA 2006.

N.A. Melchior and R. Simmons, Particle RRT for Path Planning with Uncertainty. IEEE International Conference on Robotics and Automation, 2007.

N. Roy and H. Anh, icLQG: Combining local and global optimization for control in information space. IEEE International Conference on Robotics and Automation, 2009.

T. Kollar and N. Roy, Trajectory Optimization using Reinforcement Learning for Map Exploration. The International Journal of Robotics Research, vol. 27, 2008.

H. Kurniawate, Y. Du, D. Hsu, and W.S. Lee, Motion planning under uncertainty for robotic tasks with long time horizons. Int. Symp. on Robotics Research, 2009.

S.C.W. Ong, S.W. Png, D. Hsu, and W.S. Lee, POMDPs for robotic tasks with mixed observability. Robotics: Science and Systems, 2009.

Leonidas J. Guibas, David Hsu, and Hanna Kurniawati, Bounded Uncertainty Roadmaps for Path Planning. WAFR 2008.

Kaijen Hsiao, Tomas Lozano-Perez, and Leslie Kaelbling, Robust Belief-Based Execution of Manipulation Programs. WAFR 2008.

James Davidson and Seth Hutchinson, A Sampling Hyperbelief Optimization Technique for Stochastic Systems. WAFR 2008.

Avik De, Jusuk Lee, and Noah Cowan, Toward SLAM on Graphs. WAFR 2008.

Alex Brooks and Tim Bailey, HybridSLAM: Combining FastSLAM and EKF-SLAM for reliable mapping. WAFR 2008.

K. Konolige, J. Bowman, J. D. Chen, P. Mihelich, M. Calonder, V. Lepetit and P. Fua, View-based maps. RSS 2009.

A. Segal, D. Haehnel and S. Thrun, Generalized-ICP. RSS 2009.