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Research Output

2009

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

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., 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

2011

How many landmark colors are needed to avoid confusion in a polygon?

Erickson, L. H. & La Valle, S. M., Dec 1 2011, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. p. 2302-2307 6 p. 5979838. (Proceedings - IEEE International Conference on Robotics and Automation).

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

Learning combinatorial map information from permutations of landmarks

Tovar, B., Freda, L. & Lavalle, S. M., Aug 1 2011, In : International Journal of Robotics Research. 30, 9, p. 1143-1156 14 p.

Research output: Contribution to journalArticle

Learning the Delaunay triangulation of landmarks from a distance ordering sensor

Katsev, M. & LaValle, S. M., Dec 29 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 2511-2516 6 p. 6048789. (IEEE International Conference on Intelligent Robots and Systems).

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

Mapping and Pursuit-Evasion strategies for a simple wall-following robot

Katsev, M., Yershova, A., Tovar, B., Ghrist, R. & Lavalle, S. M., Feb 1 2011, In : IEEE Transactions on Robotics. 27, 1, p. 113-128 16 p., 5685659.

Research output: Contribution to journalArticle

Minimalist multiple target tracking using directional sensor beams

Bobadilla, L., Sanchez, O., Czarnowski, 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. 3101-3107 7 p. 6048867. (IEEE International Conference on Intelligent Robots and Systems).

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

Motion planning

LaValle, S. M., Jun 1 2011, In : IEEE Robotics and Automation Magazine. 18, 2, p. 108-118 11 p., 5876226.

Research output: Contribution to journalArticle

Motion planning: Part I: The essentials

Lavalle, S. M., Mar 1 2011, In : IEEE Robotics and Automation Magazine. 18, 1, p. 79-89 11 p., 5751929.

Research output: Contribution to journalArticle

Simplicial Dijkstra and A* algorithms for optimal feedback planning

Yershov, D. S. & LaValle, S. M., Dec 29 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 3862-3867 6 p. 6048681. (IEEE International Conference on Intelligent Robots and Systems).

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

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

2012

An art gallery approach to ensuring that landmarks are distinguishable

Erickson, L. H. & Lavalle, S. M., Jan 1 2012, Robotics: Science and Systems VII. Durrant-Whyte, H., Abbeel, P. & Roy, N. (eds.). MIT Press Journals, p. 81-88 8 p. (Robotics: Science and Systems; vol. 7).

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

Controlling wild bodies using linear temporal logic

Bobadilla, L., Sanchez, O., Czarnowski, J., Gossman, K. & LaValle, S. M., Jan 1 2012, Robotics: Science and Systems VII. Durrant-Whyte, H., Abbeel, P. & Roy, N. (eds.). MIT Press Journals, p. 17-24 8 p. (Robotics: Science and Systems; vol. 7).

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

Controlling wild mobile robots using virtual gates and discrete transitions

Bobadilla, L., Martinez, F., Gobst, E., Gossman, K. & Lavalle, S. M., Jan 1 2012, 2012 American Control Conference, ACC 2012. Institute of Electrical and Electronics Engineers Inc., p. 743-749 7 p. 6315569. (Proceedings of the American Control Conference).

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

Distance optimal formation control on graphs with a tight convergence time guarantee

Yu, J. & Lavalle, M., 2012, In : Proceedings of the IEEE Conference on Decision and Control. p. 4023-4028 6 p., 6426233.

Research output: Contribution to journalConference article

Manipulating ergodic bodies through gentle guidance

Bobadilla, L., Gossman, K. & Lavalle, S. M., Feb 1 2012, Robot Motion and Control 2011. Kozlowski, K. R. (ed.). p. 273-282 10 p. (Lecture Notes in Control and Information Sciences; vol. 422).

Research output: Chapter in Book/Report/Conference proceedingChapter

Navigation among visually connected sets of partially distinguishable landmarks

Erickson, L. H. & Lavalle, S. M., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 4829-4835 7 p. 6224694. (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., Feb 1 2012, In : IEEE Transactions on Automatic Control. 57, 2, p. 421-434 14 p., 5783895.

Research output: Contribution to journalArticle

Shadow information spaces: Combinatorial filters for tracking targets

Yu, J. & Lavalle, S. M., Apr 1 2012, In : IEEE Transactions on Robotics. 28, 2, p. 440-456 17 p., 6112246.

Research output: Contribution to journalArticle

Simplicial dijkstra and A * algorithms: From graphs to continuous spaces

Yershov, D. S. & Lavalle, S. M., Dec 1 2012, In : Advanced Robotics. 26, 17, p. 2065-2085 21 p.

Research output: Contribution to journalArticle

Time optimal multi-agent path planning on graphs

Yu, J. & LaValle, S. M., 2012, p. 58-59. 2 p.

Research output: Contribution to conferencePaper

2013

A simple, but NP-hard, motion planning problem

Erickson, L. H. & La Valle, S. M., Dec 1 2013, Proceedings of the 27th AAAI Conference on Artificial Intelligence, AAAI 2013. p. 1388-1393 6 p. (Proceedings of the 27th AAAI Conference on Artificial Intelligence, AAAI 2013).

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

Continuous planning with winding constraints using optimal heuristic-driven front propagation

Yershov, D. S., Vernaza, P. & Lavalle, S. M., Nov 14 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 5551-5556 6 p. 6631374. (Proceedings - IEEE International Conference on Robotics and Automation).

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

Convex hull asymptotic shape evolution

Arnold, M., Baryshnikov, Y. & Lavalle, S. M., Jan 1 2013, Springer Tracts in Advanced Robotics. Frazzoli, E., Roy, N., Lozano-Perez, T. & Rus, D. (eds.). Springer-Verlag Berlin Heidelberg, p. 349-364 16 p. (Springer Tracts in Advanced Robotics; vol. 86).

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

Counting moving bodies using sparse sensor beams

Erickson, L. H., Yu, J., Huang, Y. & Lavalle, S. M., 2013, In : IEEE Transactions on Automation Science and Engineering. 10, 4, p. 853-861 9 p., 6519270.

Research output: Contribution to journalArticle

Counting moving bodies using sparse sensor beams

Erickson, L. H., Yu, J., Huang, Y. & Lavalle, S. M., Jan 1 2013, Springer Tracts in Advanced Robotics. Frazzoli, E., Roy, N., Lozano-Perez, T. & Rus, D. (eds.). Springer-Verlag Berlin Heidelberg, p. 427-442 16 p. (Springer Tracts in Advanced Robotics; vol. 86).

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

Efficient formation path planning on large graphs

Katsev, M., Yu, J. & Lavalle, S. M., 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 3606-3611 6 p. 6631083. (Proceedings - IEEE International Conference on Robotics and Automation).

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

Fast, near-optimal computation for multi-robot path planning on graphs

Yu, J. & La Valle, S. M., Jan 1 2013, Late-Breaking Developments in the Field of Artificial Intelligence - Papers Presented at the 27th AAAI Conference on Artificial Intelligence, Technical Report. AI Access Foundation, p. 155-157 3 p. (AAAI Workshop - Technical Report; vol. WS-13-17).

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

Multi-agent path planning and network flow

Yu, J. & Lavalle, S. M., Jan 1 2013, Springer Tracts in Advanced Robotics. Frazzoli, E., Roy, N., Lozano-Perez, T. & Rus, D. (eds.). Springer-Verlag, p. 157-173 17 p. (Springer Tracts in Advanced Robotics; vol. 86).

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

Optimal gap navigation for a disc robot

Lopez-Padilla, R., Murrieta-Cid, R. & Lavalle, S. M., Jan 1 2013, Springer Tracts in Advanced Robotics. Frazzoli, E., Roy, N., Lozano-Perez, T. & Rus, D. (eds.). Springer-Verlag, p. 123-138 16 p. (Springer Tracts in Advanced Robotics; vol. 86).

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

Planning optimal paths for multiple robots on graphs

Yu, J. & Lavalle, S. M., 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 3612-3617 6 p. 6631084. (Proceedings - IEEE International Conference on Robotics and Automation).

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

Planning under topological constraints using beam-graphs

Narayanan, V., Vernaza, P., Likhachev, M. & Lavalle, S. M., Nov 14 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 431-437 7 p. 6630611. (Proceedings - IEEE International Conference on Robotics and Automation).

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

Shortest path set induced vertex ordering and its application to distributed distance optimal formation path planning and control on graphs

Yu, J. & LaValle, S. M., Jan 1 2013, 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., p. 2775-2780 6 p. 6760303. (Proceedings of the IEEE Conference on Decision and Control).

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

Simplicial Label Correcting Algorithms for continuous stochastic shortest path problems

Yershov, D. S. & Lavalle, S. M., Nov 14 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 5062-5067 6 p. 6631300. (Proceedings - IEEE International Conference on Robotics and Automation).

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

Structure and intractability of optimal multi-robot path planning on graphs

Yu, J. & LaValle, S. M., 2013, Proceedings of the 27th AAAI Conference on Artificial Intelligence, AAAI 2013. p. 1443-1449 7 p. (Proceedings of the 27th AAAI Conference on Artificial Intelligence, AAAI 2013).

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

Toward the design and analysis of blind, bouncing robots

Erickson, L. H. & Lavalle, S. M., Nov 14 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 3233-3238 6 p. 6631027. (Proceedings - IEEE International Conference on Robotics and Automation).

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