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Research Output

2011

Space-filling trees: A new perspective on incremental search for motion planning

Kuffner, J. J. & LaValle, S. M., Dec 29 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 2199-2206 8 p. 6048346. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Story validation and approximate path inference with a sparse network of heterogeneous sensors

Yu, J. & LaValle, S. M., Dec 1 2011, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. p. 4980-4985 6 p. 5979827. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2010

Cyber detectives: Determining when robots or people misbehave

Yu, J. & Lavalle, S. M., Dec 20 2010, Algorithmic Foundations of Robotics IX - Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics. STAR ed. p. 391-407 17 p. (Springer Tracts in Advanced Robotics; vol. 68, no. STAR).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Generating uniform incremental grids on SO(3) using the hopf fibration

Yershova, A., Jain, S., Lavalle, S. M. & Mitchell, J. C., Jun 2010, In : International Journal of Robotics Research. 29, 7, p. 801-812 12 p.

Research output: Contribution to journalArticle

Generating uniform incremental grids on SO(3) Using the Hopf fibration

Yershova, A., LaValle, S. M. & Mitchell, J. C., Mar 29 2010, Algorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics. p. 385-399 15 p. (Springer Tracts in Advanced Robotics; vol. 57).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Probabilistic shadow information spaces

Yu, J. & Lavalle, S. M., Aug 26 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 3543-3549 7 p. 5509588. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Searching and mapping among indistinguishable convex obstacles

Tovar, B. & LaValle, S. M., Aug 26 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 3569-3574 6 p. 5509661. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sensor beams, obstacles, and possible paths

Tovar, B., Cohen, F. & LaValle, S. M., Mar 29 2010, Algorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics. p. 317-332 16 p. (Springer Tracts in Advanced Robotics; vol. 57).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sufficient conditions for the existence of resolution complete planning algorithms

Yershov, D. S. & Lavalle, S. M., Dec 20 2010, Algorithmic Foundations of Robotics IX - Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics. STAR ed. p. 303-320 18 p. (Springer Tracts in Advanced Robotics; vol. 68, no. STAR).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2009

Algorithms for planning and control of robot motions [TC Spotlight]

Brook, O., Hasegawa, T., Lavalle, S. & Siméon, T., Apr 14 2009, In : IEEE Robotics and Automation Magazine. 16, 1, 1 p.

Research output: Contribution to journalArticle

An information space view of "time": From clocks to open-loop control

LaValle, S. M. & Egerstedt, M., Oct 26 2009, Emergent Problems in Nonlinear Systems and Control. Thoma, M., Allgower, F. & Morari, M. (eds.). p. 93-106 14 p. (Lecture Notes in Control and Information Sciences; vol. 393).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Clearing a polygon with two 1-searchers

Simov, B. H., Slutzki, G. & Lavalle, S. M., Feb 1 2009, In : International Journal of Computational Geometry and Applications. 19, 1, p. 59-92 34 p.

Research output: Contribution to journalArticle

Global Vector Field Computation for Feedback Motion Planning

Zhang, L., Lavalle, S. M. & Manocha, D., Nov 2 2009, 2009 IEEE International Conference on Robotics and Automation, ICRA '09. p. 477-482 6 p. 5152665. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

I-Bug: An intensity-based bug algorithm

Taylor, K. & Lavalle, S. M., Nov 2 2009, 2009 IEEE International Conference on Robotics and Automation, ICRA '09. p. 3981-3986 6 p. 5152728. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Minimum wheel-rotation paths for differential-drive mobile robots

Chitsaz, H., Lavalle, S. M., Balkcom, D. J. & Mason, M. T., Jan 1 2009, In : International Journal of Robotics Research. 28, 1, p. 66-80 15 p.

Research output: Contribution to journalArticle

Motion planning for highly constrained spaces

Yershova, A. & LaValle, S. M., Dec 1 2009, Robot Motion and Control 2009. Kozlowski, K. (ed.). p. 297-306 10 p. (Lecture Notes in Control and Information Sciences; vol. 396).

Research output: Chapter in Book/Report/Conference proceedingChapter

Simple and efficient algorithms for computing smooth, collision-free feedback laws over given cell decompositions

Lindemann, S. R. & La Valle, S. M., May 1 2009, In : International Journal of Robotics Research. 28, 5, p. 600-621 22 p.

Research output: Contribution to journalArticle

Survivability: Measuring and ensuring path diversity

Erickson, L. H. & Lavalle, S. M., Nov 2 2009, 2009 IEEE International Conference on Robotics and Automation, ICRA '09. p. 2068-2073 6 p. 5152773. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2008

Comparing the power of robots

O'Kane, J. M. & LaValle, S. M., Jan 1 2008, In : International Journal of Robotics Research. 27, 1, p. 5-23 19 p.

Research output: Contribution to journalArticle

Exact pareto-optimal coordination of two translating polygonal robots on a cyclic roadmap

Chitsaz, H., LaValle, S. M. & O'Kane, J. M., Dec 1 2008, p. 179-182. 4 p.

Research output: Contribution to conferencePaper

Improving the performance of sampling-based motion planning with symmetry-based gap reduction

Cheng, P., Frazzoli, E. & LaValle, S., Apr 1 2008, In : IEEE Transactions on Robotics. 24, 2, p. 488-494 7 p.

Research output: Contribution to journalArticle

Probabilistic localization with a blind robot

Erickson, L. H., Knuth, J., O'Kane, J. M. & LaValle, S. M., Sep 18 2008, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. p. 1821-1827 7 p. 4543472. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Rendezvous without coordinates

Yu, J., Lavalle, S. M. & Liberzon, D. M., Dec 1 2008, Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. p. 1803-1808 6 p. 4739343. (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tracking hidden agents through shadow information spaces

Yu, J. & LaValle, S. M., Sep 18 2008, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. p. 2331-2338 8 p. 4543562. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Visibility-based pursuit-evasion with bounded speed

Tovar, B. & Lavalle, S. M., Oct 20 2008, Algorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics. p. 475-489 15 p. (Springer Tracts in Advanced Robotics; vol. 47).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Visibility-based pursuitĝ€"evasion with bounded speed

Tovar, B. & Lavalle, S. M., Nov 1 2008, In : International Journal of Robotics Research. 27, 11-12, p. 1350-1360 11 p.

Research output: Contribution to journalArticle

2007

Computing smooth feedback plans over cylindrical algebraic decompositions

Lindemann, S. R. & Lavalle, S. M., Jan 1 2007, Robotics: Science and Systems II. MIT Press Journals, Vol. 2. p. 207-214 8 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Distance-optimal navigation in an unknown environment without sensing distances

Tovar, B., Murrieta-Cid, R. & LaValle, S. M., Jun 1 2007, In : IEEE Transactions on Robotics. 23, 3, p. 506-518 13 p.

Research output: Contribution to journalArticle

Dominance and equivalence for sensor-based agents

O'Kane, J. M. & Lavalle, S. M., Nov 28 2007, AAAI-07/IAAI-07 Proceedings: 22nd AAAI Conference on Artificial Intelligence and the 19th Innovative Applications of Artificial Intelligence Conference. p. 1655-1658 4 p. (Proceedings of the National Conference on Artificial Intelligence; vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Improving motion-planning algorithms by efficient nearest-neighbor searching

Yershova, A. & LaValle, S. M., Feb 1 2007, In : IEEE Transactions on Robotics. 23, 1, p. 151-157 7 p.

Research output: Contribution to journalArticle

Learning combinatorial information from alignments of landmarks

Freda, L., Tovar, B. & Lavalle, S. M., Nov 27 2007, 2007 IEEE International Conference on Robotics and Automation, ICRA'07. p. 4295-4300 6 p. 4209758. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Localization with limited sensing

O'Kane, J. M. & LaValle, S. M., Aug 2007, In : IEEE Transactions on Robotics. 23, 4, p. 704-716 13 p.

Research output: Contribution to journalArticle

Minimum wheel-rotation paths for differential drive mobile robots among piecewise smooth obstacles

Chitsaz, H. & Lavalle, S. M., Nov 27 2007, 2007 IEEE International Conference on Robotics and Automation, ICRA'07. p. 2718-2723 6 p. 4209494. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

On comparing the power of mobile robots

O'Kane, J. M. & Lavalle, S. M., Jan 1 2007, Robotics: Science and Systems II. Sukhatme, G. S., Schaal, S., Burgard, W., Schaal, S. & Fox, D. (eds.). MIT Press Journals, p. 65-72 8 p. (Robotics: Science and Systems; vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

On time: clocks, chronometers, and open-loop control

Lavalle, S. M. & Egerstedt, M. B., Dec 1 2007, Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. p. 1916-1922 7 p. 4434862. (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sloppy motors, flaky sensors, and virtual dirt: Comparing imperfect ill-informed robots

O'Kane, J. M. & LaValle, S. M., Nov 27 2007, 2007 IEEE International Conference on Robotics and Automation, ICRA'07. p. 4084-4089 6 p. 4209724. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Smooth feedback for car-like vehicles in polygonal environments

Lindemann, S. R. & Lavalle, S. M., Nov 27 2007, 2007 IEEE International Conference on Robotics and Automation, ICRA'07. p. 3104-3109 6 p. 4209562. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Time-optimal paths for a dubins airplane

Chitsaz, H. & LaValle, S. M., Dec 1 2007, Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. p. 2379-2384 6 p. 4434966. (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2006

A multiresolution approach for motion planning under differential constraints

Lindemann, S. R. & Lavalle, S. M., Dec 27 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. p. 139-144 6 p. 1641174. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2006).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Minimum wheel-rotation paths for differential-drive mobile robots

Chitsaz, H., Lavalle, S. M., Balkcom, D. J. & Mason, M. T., Dec 27 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. p. 1616-1623 8 p. 1641938. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2006).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nonpositive curvature and Pareto optimal coordination of robots

Ghrist, R. & Lavalle, S. M., Dec 1 2006, In : SIAM Journal on Control and Optimization. 45, 5, p. 1697-1713 17 p.

Research output: Contribution to journalArticle

Planning algorithms

LaValle, S. M., Jan 1 2006, Cambridge University Press. 826 p.

Research output: Book/Report/Conference proceedingBook

Real time feedback control for nonholonomic mobile robots with obstacles

Lindemann, S. R., Hussein, I. I. & Lavalle, S. M., 2006, Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. p. 2406-2411 6 p. 4177824

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Steps toward derandomizing RRTs

Lindemann, S. R. & Lavalle, S. M., 2006, In : Lecture Notes in Control and Information Sciences. 335, p. 287-300 14 p.

Research output: Contribution to journalArticle

2005

Adaptive tuning of the sampling domain for dynamic-domain RRTs

Jaillet, L., Yershova, A., Lavalle, S. M. & Siméon, T., 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, p. 2851-2856 6 p. 1545607. (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Almost-sensorless localization

O'Kane, J. M. & Lavalle, S. M., Dec 1 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation. p. 3764-3769 6 p. 1570694. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2005).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bitbots: Simple robots solving complex tasks

Yershova, A., Tovar, B., Ghrist, R. & Lavalle, S. M., 2005, Proceedings of the 20th National Conference on Artificial Intelligence and the 17th Innovative Applications of Artificial Intelligence Conference, AAAI-05/IAAI-05. Vol. 3. p. 1336-1341 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Computing pareto optimal coordinations on roadmaps

Christ, R., O'Kane, J. M. & LaValle, S. M., Nov 1 2005, In : International Journal of Robotics Research. 24, 11, p. 997-1010 14 p.

Research output: Contribution to journalArticle

Current issues in sampling-based motion planning

Lindemann, S. R. & LaValle, S. M., Jan 1 2005, In : Springer Tracts in Advanced Robotics. 15, p. 36-54 19 p.

Research output: Contribution to journalArticle

Dynamic-domain RRTs: Efficient exploration by controlling the sampling domain

Yershova, A., Jaillet, L., Siméon, T. & LaValle, S. M., Dec 1 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation. p. 3856-3861 6 p. 1570709. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2005).

Research output: Chapter in Book/Report/Conference proceedingConference contribution