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Research Output

2005

Gap navigation trees: Minimal representation for visibility-based tasks

Tovar, B., Guilamo, L. & LaValle, S. M., 2005, Algorithmic Foundations of Robotics VI. Springer-Verlag Berlin Heidelberg, p. 425-440 16 p. (Springer Tracts in Advanced Robotics; vol. 17).

Research output: Chapter in Book/Report/Conference proceedingChapter

Incremental Grid Sampling Strategies in Robotics

Lindemann, S. R., Yershova, A. & LaValle, S. M., Dec 1 2005, Algorithmic Foundations of Robotics VI. Erdmann, M., Overmars, M., van der Stappen, A. F. & Hsu, H. (eds.). p. 313-328 16 p. (Springer Tracts in Advanced Robotics; vol. 17).

Research output: Chapter in Book/Report/Conference proceedingChapter

Information spaces for mobile robots

Tovar, B., Yershova, A., O'Kane, J. M. & LaValle, S. M., Jan 1 2005, Proceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05. IEEE Computer Society, p. 11-20 10 p. 1554373. (Proceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05; vol. 2005).

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

Pareto optimal coordination on Roadmaps

Ghrist, R., O'Kane, J. M. & LaValle, S. M., Jan 1 2005, Algorithmic Foundations of Robotics VI. Springer-Verlag Berlin Heidelberg, p. 171-186 16 p. (Springer Tracts in Advanced Robotics; vol. 17).

Research output: Chapter in Book/Report/Conference proceedingChapter

Smoothly blending vector fields for global robot navigation

Lindemann, S. R. & Lavalle, S. M., Dec 1 2005, Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. p. 3553-3559 7 p. 1582713. (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; vol. 2005).

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

2004

Deterministic sampling methods for spheres and SO(3)

Yershova, A. & LaValle, S. M., Jul 5 2004, In : Proceedings - IEEE International Conference on Robotics and Automation. 2004, 4, p. 3974-3980 7 p.

Research output: Contribution to journalConference article

Exact pareto-optimal coordination of two translating polygonal robots on an acyclic roadmap

Chitsaz, H., O'Kane, J. M. & LaValle, S. M., 2004, In : Proceedings - IEEE International Conference on Robotics and Automation. 2004, 4, p. 3981-3986 6 p.

Research output: Contribution to journalConference article

Improving the performance of sampling-based planners by using a symmetry-exploiting gap reduction algorithm

Cheng, P., Frazzoli, E. & Lavalle, S. M., Jul 6 2004, In : Proceedings - IEEE International Conference on Robotics and Automation. 2004, 5, p. 4362-4368 7 p.

Research output: Contribution to journalConference article

Incrementally reducing dispersion by increasing voronoi bias in RRTs

Lindemann, S. R. & La Valle, S. M., 2004, In : Proceedings - IEEE International Conference on Robotics and Automation. 2004, 4, p. 3251-3257 7 p.

Research output: Contribution to journalConference article

On the relationship between classical grid search and probabilistic roadmaps

LaValle, S. M. & Branicky, M. S., Dec 1 2004, Algorithmic Foundations of Robotics V. p. 59-75 17 p. (Springer Tracts in Advanced Robotics; vol. 7 STAR).

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

On the relationship between classical grid search and probabilistic roadmaps

LaValle, S. M., Branicky, M. S. & Lindemann, S. R., Jul 1 2004, In : International Journal of Robotics Research. 23, 7-8, p. 673-692 20 p.

Research output: Contribution to journalArticle

Pursuit-evasion in an unknown environment using Gap Navigation Trees

Guilamo, L., Tovar, B. & Lavalle, S. M., Dec 1 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 3456-3462 7 p. (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); vol. 4).

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

Steps toward derandomizing RRTs

Lindemann, S. R. & Lavalle, S. M., 2004, Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04. Kozlowski, K. (ed.). p. 271-277 7 p.

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

Visibility-based pursuit-evasion in an unknown planar environment

Sachs, S., Lavalle, S. M. & Rajko, S., Dec 1 2004, In : International Journal of Robotics Research. 23, 1, p. 3-26 24 p.

Research output: Contribution to journalReview article

2003

Exploiting Group Symmetries to Improve Precision in Kinodynamic and Nonholonomic Planning

Cheng, P., Frazzoli, E. & Lavalle, S. M., Dec 29 2003, IEEE International Conference on Intelligent Robots and Systems. Vol. 1. p. 631-636 6 p.

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

Incremental low-discrepancy lattice methods for motion planning

Lindemann, S. R. & Lavalle, S. M., Dec 9 2003, In : Proceedings - IEEE International Conference on Robotics and Automation. 3, p. 2920-2927 8 p.

Research output: Contribution to journalConference article

Locally-Optimal Navigation in Multiply-Connected Environments without Geometric Maps

Tovar, B., Lavalle, S. M. & Murrieta, R., Dec 26 2003, p. 3491-3497. 7 p.

Research output: Contribution to conferencePaper

Motion planning for digital humans

Kuffner, J., Chestnutt, J., Kagami, S., Latombe, J. C., Nishiwaki, K., Hodgins, J., LaValle, S., Inaba, M., Yamane, K. & Inoue, H., Jan 1 2003, Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Computational Intelligence in Robotics and Automation for the New Millennium. Institute of Electrical and Electronics Engineers Inc., p. 912-917 6 p. 1222301. (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; vol. 2).

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

Optimal navigation and object finding without geometric maps or localization

Tovar, B., Lavalle, S. M. & Murrieta, R., Dec 9 2003, In : Proceedings - IEEE International Conference on Robotics and Automation. 1, p. 464-470 7 p.

Research output: Contribution to journalConference article

2002

A complete pursuit-evasion algorithm for two pursuers using beam detection

Simov, B. H., LaValle, S. M. & Slutzki, G., May 2002, In : Proceedings - IEEE International Conference on Robotics and Automation. 1, p. 618-623 6 p.

Research output: Contribution to journalArticle

An algorithm for searching a polygonal region with a flashlight

Lavalle, S. M., Simov, B. H. & Slutzki, G., 2002, In : International Journal of Computational Geometry and Applications. 12, 1-2, p. 87-113 27 p.

Research output: Contribution to journalArticle

An improved random neighborhood graph approach

Yang, L. & Lavalle, S. M., Jan 1 2002, In : Proceedings - IEEE International Conference on Robotics and Automation. 1, p. 254-259 6 p.

Research output: Contribution to journalConference article

Efficient nearest neighbor searching for motion planning

Atramentov, A. & Lavalle, S. M., Jan 1 2002, In : Proceedings - IEEE International Conference on Robotics and Automation. 1, p. 632-637 6 p.

Research output: Contribution to journalConference article

Resolution complete rapidly-exploring random trees

Cheng, P. & LaValle, S. M., Jan 1 2002, In : Proceedings - IEEE International Conference on Robotics and Automation. 1, p. 267-272 6 p.

Research output: Contribution to journalConference article

2001

Algorithms for computing numerical optimal feedback motion strategies

LaValle, S. M. & Konkimalla, P., Jan 1 2001, In : International Journal of Robotics Research. 20, 9, p. 729-752 24 p.

Research output: Contribution to journalArticle

A pursuit-evasion BUG algorithm

Rajko, S. & Lavalle, S. M., Jan 1 2001, In : Proceedings - IEEE International Conference on Robotics and Automation. 2, p. 1954-1960 7 p.

Research output: Contribution to journalConference article

Quasi-randomized path planning

Branicky, M. S., LaValle, S. M., Olson, K. & Yang, L., Jan 1 2001, In : Proceedings - IEEE International Conference on Robotics and Automation. 2, p. 1481-1487 7 p.

Research output: Contribution to journalArticle

Randomized kinodynamic planning

LaValle, S. M. & Kuffner, J. J., May 1 2001, In : International Journal of Robotics Research. 20, 5, p. 378-400 23 p.

Research output: Contribution to journalArticle

Randomized path planning for linkages with closed kinematic chains

Yakey, J. H., LaValle, S. M. & Kavraki, L. E., Dec 1 2001, In : IEEE Transactions on Robotics and Automation. 17, 6, p. 951-958 8 p.

Research output: Contribution to journalArticle

Reducing metric sensitivity in randomized trajectory design

Cheng, P. & Lavalle, S. M., Dec 1 2001, IEEE International Conference on Intelligent Robots and Systems. Vol. 1. p. 43-48 6 p.

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

Visibility-based pursuit-evasion: The case of curved environments

LaValle, S. M. & Hinrichsen, J. E., Apr 1 2001, In : IEEE Transactions on Robotics and Automation. 17, 2, p. 196-202 7 p.

Research output: Contribution to journalArticle

2000

Algorithm for searching a polygonal region with a flashlight

LaValle, S. M., Simov, B. H. & Slutzki, G., 2000, p. 260-269. 10 p.

Research output: Contribution to conferencePaper

A Randomized Kinematics-Based Approach to Pharmacophore-Constrained Conformational Search and Database Screening

LaValle, S. M., Finn, P. W., Kavraki, L. E. & Latombe, J. C., Jul 5 2000, In : Journal of Computational Chemistry. 21, 9, p. 731-747 17 p.

Research output: Contribution to journalArticle

Pursuit-evasion using beam detection

Simov, B. H., Slutzki, G. & LaValle, S. M., Dec 3 2000, In : Proceedings - IEEE International Conference on Robotics and Automation. 2, p. 1657-1662 6 p.

Research output: Contribution to journalConference article

Robot motion planning: A game-theoretic foundation

Lavalle, S. M., Jan 1 2000, In : Algorithmica (New York). 26, 3-4, p. 430-465 36 p.

Research output: Contribution to journalArticle

RRT-connect: an efficient approach to single-query path planning

Kuffner, J. J. & Lavalle, S. M., Dec 3 2000, In : Proceedings - IEEE International Conference on Robotics and Automation. 2, p. 995-1001 7 p.

Research output: Contribution to journalConference article

1999

A visibility-based pursuit-evasion problem

Guibas, L. J., Latombe, J. C., Lavalle, S. M., Lin, D. & Motwani, R., Jan 1 1999, In : International Journal of Computational Geometry and Applications. 9, 4-5, p. 471-493 23 p.

Research output: Contribution to journalArticle

Efficient computation of optimal navigation functions for nonholonomic planning

Konkimalla, P. & La Valle, S. M., Jan 1 1999, Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999. Tchon, K. (ed.). Institute of Electrical and Electronics Engineers Inc., p. 187-192 6 p. 791074. (Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999).

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

Efficient database screening for rational drug design using pharmacophore-constrained conformational search

LaValle, S. M., Finn, P. W., Kavraki, L. E. & Latombe, J. C., Jan 1 1999, p. 250-259. 10 p.

Research output: Contribution to conferencePaper

Probabilistic roadmap approach for systems with closed kinematic chains

Lavalle, S. M., Yakey, J. H. & Kavraki, L. E., 1999, In : Proceedings - IEEE International Conference on Robotics and Automation. 3, p. 1671-1676 6 p.

Research output: Contribution to journalArticle

Randomized kinodynamic planning

LaValle, S. M. & Kuffner, J. J., Jan 1 1999, In : Proceedings - IEEE International Conference on Robotics and Automation. 1, p. 473-479 7 p.

Research output: Contribution to journalConference article

Visibility-based pursuit-evasion: the case of curved environments

Lavalle, S. M. & Hinrichsen, J. E., 1999, In : Proceedings - IEEE International Conference on Robotics and Automation. 3, p. 1677-1682 6 p.

Research output: Contribution to journalArticle

1998

Objective-based framework for motion planning under sensing and control uncertainties

LaValle, S. M. & Hutchinson, S. A., Jan 1 1998, In : International Journal of Robotics Research. 17, 1, p. 19-42 24 p.

Research output: Contribution to journalArticle

Optimal motion planning for multiple robots having independent goals

LaValle, S. M. & Hutchinson, S. A., Dec 1 1998, In : IEEE Transactions on Robotics and Automation. 14, 6, p. 912-925 14 p.

Research output: Contribution to journalArticle

1997

Finding an unpredictable target in a workspace with obstacles

Lavalle, S. M., Lin, D., Guibas, L. J., Latombe, J. C. & Motwani, R., Jan 1 1997, In : Proceedings - IEEE International Conference on Robotics and Automation. 1, p. 737-742 6 p.

Research output: Contribution to journalConference article

Methods for numerical integration of high-dimensional posterior densities with application to statistical image models

LaValle, S. M., Moroney, K. J. & Hutchinson, S. A., Dec 1 1997, In : IEEE Transactions on Image Processing. 6, 12, p. 1659-1672 14 p.

Research output: Contribution to journalArticle

Motion strategies for maintaining visibility of a moving target

LaValle, S. M., Gonzalez-Banos, H. H., Becker, C. & Latombe, J. C., Jan 1 1997, In : Proceedings - IEEE International Conference on Robotics and Automation. 1, p. 731-736 6 p.

Research output: Contribution to journalConference article

On motion planning in changing, partially predictable environments

Lavalle, S. M. & Sharma, R., Jan 1 1997, In : International Journal of Robotics Research. 16, 6, p. 775-805 31 p.

Research output: Contribution to journalArticle