Robotics

Motion planning is a fundamental problem in robotics. It may be stated as finding a path for a robot or agent, such that the robot or agent may move along this path from its initial configuration to goal configuration without colliding with any static obstacles or other robots or agents in the environment. Motion planning algorithms are used in many fields, including bioinformatics, character animation, computer-aided design and computer-aided manufacturing (CAD/CAM), industrial automation, robotic surgery, and single and multiple robot navigation in both two and three dimensions.

Publications

• .
Realtime Planning for High-DOF Deformable Bodies using Two-Stage Learning  2018.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Video Google Scholar Machine Learning Robotics

• .
Active Animations of Reduced Deformable Models with Environment Interactions  2018.
ACM Transactions on Graphics

PDF Project Video Google Scholar Animation Robotics

• .
Manipulating Highly Deformable Materials Using a Visual Feedback Dictionary  2018.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project YouTube Google Scholar Robotics Machine Learning

• .
Fast and Bounded Probabilistic Collision Detection for High-DOF Trajectory Planning in Dynamic Environments  2018.
IEEE Transactions on Automation Science and Engineering

Project Google Scholar Collision Avoidance Robotics

• .
An Efficient Acyclic Contact Planner for Multiped Robots  2018.
IEEE Transactions on Robotics

PDF Google Scholar Robotics

• .
Fluid Directed Rigid Body Control using Deep Reinforcement Learning  2018.
ACM Transactions on Graphics

PDF Project Video Google Scholar Animation Robotics

• .
Spoke-Darts for High-Dimensional Blue-Noise Sampling  2018.
ACM Transactions on Graphics

PDF Google Scholar Robotics Texture

• .
Classifying Group Emotions for Socially-Aware Autonomous Vehicle Navigation  2018.
IEEE Conference on Computer Vision and Pattern Recognition Workshops

PDF Google Scholar Autonomous Vehicles Crowd Behavior Robotics

• .
Realtime Hand-Object Interaction using Learned Grasp Space for Virtual Environments  2018.
IEEE Transactions on Visualization and Computer Graphics (TVCG)

PDF Project Google Scholar Robotic Grasping Robotics

• .
PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrians  2018.
IEEE ROBOTICS AND AUTOMATION LETTERS

PDF Google Scholar Robotics Collision Avoidance

• .
Efficient Inverse Kinematics for Redundant Manipulators with Collision Avoidance in Dynamic Scenes  2018.
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO2018)

PDF Google Scholar Robotics Collision Avoidance

• .
Interactive simulation of local interactions in dense crowds using elliptical agents  2017.
Journal of Statistical Mechanics: Theory and Experiment

PDF Project Google Scholar Crowd Simulation Collision Avoidance Geometric Robotics

• .
Motion Recognition of Self & Others on Realistic 3D Avatars  2017.
Computer Animation & Virtual Worlds

PDF Project Video Google Scholar Crowd Simulation Robotics

• .
SocioSense: Robot Navigation Amongst Pedestrians with Social and Psychological Constraints  2017.
IROS

PDF Project Google Scholar Crowd Behavior Robotics Crowd Simulation Crowd Tracking

• .
Intention-Aware Motion Planning Using Learning Based Human Motion Prediction  2017.
Proceedings of RSS (Robotics: Science and System)

PDF Project Video YouTube Google Scholar Robotics Collision Avoidance

• .
Intention-Aware Motion Planning Using Learning Based Human Motion Prediction  2017.
Proceedings of RSS (Robotics: Science and System)

PDF Project Video YouTube Google Scholar Robotics Collision Avoidance

• .
Interactive Tracking, Prediction and Behavior Learning of Pedestrians in Dense Crowds  2017.

PDF Google Scholar Crowd Simulation Crowd Behavior Crowd Tracking Robotics

• .
Dynamically Balanced and Plausible Trajectory Planning for Human-Like Characters  2016.
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games

PDF Project Video YouTube Google Scholar Robotics

• .
PedVR: Simulating Gaze-Based Interactions between a Real User and Virtual Crowds  2016.
The ACM Symposium on Virtual Reality Software and Technology (VRST)

PDF Project Video Google Scholar Crowd Simulation Collision Avoidance Robotics

• .
Interactive Crowd-Behavior Learning for Surveillance and Training  2016.
IEEE Computer Graphics and Applications

PDF Google Scholar Crowd Simulation Crowd Tracking Robotics

• .
Interactive Continuous Collision Detection for Topology Changing Models Using Dynamic Clustering  2015.
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games

PDF Google Scholar Collision Detection Robotics Animation

• .
Efficient Global Penetration Depth Computation for Articulated Models  2015.
Computer-Aided Design (Proceedings of GDSPM, Geometric Design and Solid and Physical Modeling)

PDF Google Scholar Collision Detection Robotics

• .
A Reachability-based planner for sequences of acyclic contacts in cluttered environments  2015.
The International Symposium on Robotics Research (ISRR)

PDF Google Scholar Robotics

• .
Simulating High-DOF Human-like Agents using Hierarchical Feedback Planner  2015.
The ACM Symposium on Virtual Reality Software and Technology (VRST)

PDF Project Video YouTube Google Scholar Robotics Crowd Simulation

• .
Parallel Cartesian Planning in Dynamic Environments using Constrained Trajectory Planning  2015.
IEEE International Conference on Humanoid Robots (HUMANOIDS)

PDF Project Video YouTube Google Scholar Robotics

• .
Efficient Configuration Space Construction and Optimization for Motion Planning  2015.
Engineering

Project Google Scholar Robotics Collision Detection Collision Avoidance GPGPU

• .
Smooth Coordination and Navigation for Multiple Differential-Drive Robots  2014.
Experimental Robotics: The 12th International Symposium (ISER), Springer Tracts in Advanced Robotics (STAR)

PDF Project Google Scholar Robotics

• .
Poisson-RRT  2014.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Robotics

• .
High-DOF Robots in Dynamic Environments using Incremental Trajectory Optimization  2014.
International Journal of Humanoid Robotics (IJHR)

PDF Project Google Scholar Robotics

• .
DenseSense: Interactive Crowd Simulation using Density-Dependent Filters  2014.
ACM SIGGRAPH / Eurographics Symposium on Computer Animation

PDF Project Google Scholar Crowd Simulation Robotics Collision Avoidance

• .
Ped-Air: a Simulator for Loading, Unloading, and Evacuating Aircraft  2014.
Pedestrian and Evacuation Dynamics 2014

PDF Video Google Scholar Crowd Simulation Robotics Collision Avoidance Collision Detection

• .
Smooth and Dynamically Stable Navigation of Multiple Human-Like Robots  2014.
The Eleventh International Workshop on the Algorithmic Foundations of Robotics (WAFR)

PDF Project Google Scholar Robotics Crowd Simulation

• .
Fast and Dynamically Stable Optimization-based Planning for High-DOF Human-like Robots  2014.
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS)

PDF Project Google Scholar Robotics

• .
Data-driven sequential goal selection model for multi-agent simulation  2014.
ACM VRST

Project Google Scholar Crowd Simulation Robotics

• .
Real-time Optimization-based Planning in Dynamic Environments using GPUs  2013.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Robotics GPGPU

• .
Continuous Penetration Depth  2013.
Computer-Aided Design (Proc. of SIAM Conference on Geometric and Physical Modeling)

PDF Project Google Scholar Collision Detection Robotics Animation

• .
Goal Velocity Obstacles for Spatial Navigation of Multiple Virtual Agents  2013.
International Conference on Autonomous Agents and Multiagent Systems (AAMAS)

PDF Project Video YouTube Google Scholar Robotics

• .
Goal Velocity Obstacles for Spatial Navigation of Multiple Autonomous Robots or Virtual Agents  2013.
Autonomous Robots and Multirobot Systems (ARMS)

PDF Project Video YouTube Google Scholar Robotics

• .
GPU-based Parallel Collision Detection for Fast Motion Planning  2012.
International Journal of Robotics Research (IJRR)

PDF Project Google Scholar GPGPU Collision Detection Robotics

• .
Way Portals: Efficient Multi-Agent Naviation with Line-Segment Goals  2012.
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games (I3D)

PDF Project Video Google Scholar Crowd Simulation Robotics

• .
Least-effort Trajectories Lead to Emergent Crowd Behaviors  2012.
Physical Review E

PDF Project Google Scholar Crowd Simulation Robotics

• .
LQG-Obstacles: Feedback Control with Collision Avoidance for Mobile Robots Under Uncertainty  2012.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Robotics Collision Avoidance

• .
Real-Time Footstep Planning for Humanoid Robots Among 3D Obstacles Using a Hybrid Bounding Box  2012.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Google Scholar Collision Avoidance Robotics

• .
ITOMP: Incremental Trajectory Optimization for Real-Time Replanning in Dynamic Environments  2012.
International Conference on Automated Planning and Scheduling (ICAPS)

PDF Project Google Scholar Robotics

• .
Smooth and Collision-Free Navigation for Multiple Mobile Robots and Video Game Characters  2012.
Ph.D. Dissertation, University of North Carolina at Chapel Hill

PDF Google Scholar Collision Avoidance Robotics

• .
Collision-free and Smooth Trajectory Computation in Cluttered Environments  2012.
International Journal of Robotics Research (IJRR)

PDF Project Video Google Scholar Collision Detection Robotics

• .
Pedestrian Simulation Using Geometric Reasoning in Velocity Space  2012.
Pedestrian and Evacuation Dynamics

PDF Project Google Scholar Crowd Simulation Collision Avoidance Robotics

• .
A Statistical Similarity Measure for Aggregate Crowd Dynamics  2012.
ACM Transactions on Graphics (Proc SIGGRAPH Asia)

PDF Project Video YouTube Google Scholar Crowd Simulation Collision Avoidance Robotics

• .
Reciprocal n-body Collision Avoidance  2011.
Robotics Research: The 14th International Symposium (ISRR), Springer Tracts in Advanced Robotics (STAR)

PDF Project Google Scholar Robotics Crowd Simulation

• .
CCQ: Efficient Local Planning Using Connection Collision Query  2011.
Algorithmic Foundations of Robotics IX: Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics (WAFR), Springer Tracts in Advanced Robotics (STAR)

PDF Project Google Scholar Collision Detection Robotics

• .
GPU-based Parallel Collision Detection for Real-time Motion Planning  2011.
Algorithmic Foundations of Robotics IX: Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics (WAFR), Springer Tracts in Advanced Robotics (STAR)

PDF Project Google Scholar GPGPU Robotics Collision Detection

• .
Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles  2011.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Robotics Collision Avoidance

• .
The Hybrid Reciprocal Velocity Obstacle  2011.
IEEE Transactions on Robotics (T-RO)

PDF Project Video YouTube Google Scholar Robotics Collision Avoidance

• .
Collision-free and Curvature-continuous Path Smoothing in Cluttered Environments  2011.
Robotics: Science and Systems (RSS)

PDF Project Google Scholar Robotics

• .
Walk This Way: A Lightweight, Data-driven Walking Synthesis Algorithm  2011.
Motion in Games: 4th International Conference (MIG), Lecture Notes in Computer Science (LNCS)

PDF Project Google Scholar Robotics Animation

• .
Navigating Multiple Simple-Airplanes in 3D Workspace  2010.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project YouTube Google Scholar Robotics Collision Avoidance

• .
Directing Crowd Simulations Using Navigation Fields  2010.
IEEE Transactions on Visualization and Computer Graphics (TVCG)

PDF Project Video YouTube Google Scholar Crowd Simulation Robotics Collision Avoidance

• .
Independent Navigation of Multiple Robots and Virtual Agents  2010.
International Conference on Autonomous Agents and Multiagent Systems (AAMAS)

PDF Project YouTube Google Scholar Robotics Crowd Simulation

• .
Retraction-based RRT Planner for Articulated Models  2010.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Robotics

• .
Continuous Collision Detection for Non-rigid Contact Computations Using Local Advancement  2010.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Google Scholar Collision Detection Robotics

• .
A Hybrid Approach for Simulating Human Motion in Constrained Environments  2010.
Computer Animation and Virtual Worlds (CAVW)

PDF Project Video YouTube Google Scholar Robotics

• .
g-Planner: Real-time Motion Planning and Global Navigation Using GPUs  2010.
AAAI Conference on Artificial Intelligence (AAAI)

PDF Project Google Scholar GPGPU Robotics

• .
Smooth and Collision-Free Navigation for Multiple Robots Under Differential-Drive Constraints  2010.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PDF Project Google Scholar Robotics Collision Avoidance

• .
Efficient Nearest-neighbor Computation for GPU-based Motion Planning  2010.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PDF Project Google Scholar GPGPU Robotics

• .
Physically-based Sampling for Motion Planning  2010.
Ph.D. Dissertation, University of North Carolina at Chapel Hill

PDF Google Scholar Robotics Animation

• .
Constrained Motion Interpolation with Distance Constraints  2009.
Algorithmic Foundation of Robotics VIII: Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics (WAFR), Springer Tracts in Advanced Robotics (STAR)

PDF Project Google Scholar Robotics Collision Detection

• .
Path Planning Among Movable Obstacles: A Probabilistically Complete Approach  2009.
Algorithmic Foundation of Robotics VIII: Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics (WAFR), Springer Tracts in Advanced Robotics (STAR)

PDF Google Scholar Robotics Collision Detection

• .
Global Vector Field Computation for Feedback Motion Planning  2009.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Video Google Scholar Robotics Collision Detection

• .
Multi-robot Coordination Using Generalized Social Potential Fields  2009.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Video YouTube Google Scholar Robotics Crowd Simulation

• .
C2A: Controlled Conservative Advancement for Interactive Continuous Collision Detection of Polygonal Models  2009.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Collision Detection Animation Robotics

• .
Centralized Path Planning for Multiple Robots: Optimal Decoupling into Sequential Plans  2009.
Robotics: Science and Systems (RSS)

PDF Google Scholar Robotics Collision Detection

• .
ClearPath: Highly Parallel Collision Avoidance for Multi-agent Simulation  2009.
ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA)

PDF Project Video YouTube Google Scholar Robotics GPGPU Crowd Simulation

• .
Independent Navigation of Multiple Mobile Robots with Hybrid Reciprocal Velocity Obstacles  2009.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PDF Project Video YouTube Google Scholar Robotics Collision Avoidance

• .
Motion Planning of Human-like Robots Using Constrained Coordination  2009.
IEEE-RAS International Conference on Humanoid Robots (Humanoids)

PDF Project Google Scholar Robotics Collision Avoidance

• .
Generalized Velocity Obstacles  2009.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PDF Project Video YouTube Google Scholar Robotics Collision Avoidance

• .
Efficient Motion Planning Using Generalized Penetration Depth Computation  2009.
Ph.D. Dissertation, University of North Carolina at Chapel Hill

PDF Google Scholar Robotics

• .
A Simple Path Non-Existence Algorithm Using C-obstacle Query  2008.
Algorithmic Foundation of Robotics VII: Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics (WAFR), Springer Tracts in Advanced Robotics (STAR)

PDF Google Scholar Robotics Collision Detection Geometric

• .
An Efficient Retraction-based RRT Planner  2008.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Robotics

• .
Reciprocal Velocity Obstacles for Real-time Multi-agent Navigation  2008.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Crowd Simulation Robotics

• .
Interactive Navigation of Multiple Agents in Crowded Environments  2008.
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games (I3D)

PDF Project Google Scholar Crowd Simulation Robotics

• .
D-Plan: Efficient Collision-free Path Computation for Part Removal and Disassembly  2008.
International CAD Conference (Best Paper)

PDF Project Google Scholar Robotics Collision Detection Geometric

• .
Interactive Navigation of Heterogeneous Agents Using Adaptive Roadmaps  2008.
IEEE Transactions on Visualization and Computer Graphics (TVCG)

Project Google Scholar Crowd Simulation Robotics Animation

• .
Real-time Path Planning in Dynamic Virtual Environments Using Multi-agent Navigation Graphs  2008.
IEEE Transactions on Visualization and Computer Graphics (TVCG)

Project Google Scholar Crowd Simulation Robotics Collision Detection

• .
Composite Agents  2008.
ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA)

PDF Project Video YouTube Google Scholar Crowd Simulation Robotics

• .
Navigating Virtual Agents in Online Virtual Worlds  2008.
Web3D Symposium

PDF Project Google Scholar Crowd Simulation Robotics

• .
Efficient Cell Labelling and Path Non-existence Computation Using C-obstacle Query  2008.
International Journal of Robotics Research (IJRR)

Project Google Scholar Collision Detection Robotics

• .
Star-shaped Roadmaps: A Determinstic Sampling Approach for Complete Motion Planning  2007.
International Journal of Robotics Research (IJRR)

PDF Project Google Scholar Robotics

• .
C-DIST: Efficient Distance Computation for Rigid and Articulated Models in Configuration Space  2007.
ACM Symposium on Solid and Physical Modeling (SPM)

PDF Project Google Scholar Collision Detection Geometric Robotics

• .
Surface Distace Maps  2007.
Graphics Interface

PDF Project Video Google Scholar Collision Detection GPGPU Robotics Geometric

• .
Lazy Reconfiguration Forests (LRF): An Approach for Motion Planning with Multiple Tasks in Dynamic Environments  2007.
IEEE International Conference on Robotics and Automation (ICRA)

Google Scholar Robotics

• .
Efficient Motion Planning of Highly Articulated Chains Using Physics-based Sampling  2007.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Robotics Animation

• .
A Fast and Practical Algorithm for Generalized Penetration Depth Computation  2007.
Robotics: Science and Systems (RSS)

PDF Project Google Scholar Collision Detection Robotics

• .
Reactive Deforming Roadmaps: Motion Planning of Multiple Robots in Dynamic Environments  2007.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PDF Project Video Google Scholar Robotics

• .
Cable Route Planning in Complex Environments Using Constrained Sampling  2007.
ACM Symposium on Solid and Physical Modeling (SPM)

PDF Google Scholar Robotics Geometric Animation

• .
Fast C-obstacle Query Computation for Motion Planning  2006.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Google Scholar Robotics Collision Detection Geometric

• .
Generalized Penetration Depth Computation  2006.
ACM Symposium on Solid and Physical Modeling (SPM)

PDF Project Google Scholar Geometric Robotics Collision Detection

• .
Topology Preserving Free Configuration Space Approximation  2006.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Google Scholar Robotics

• .
Reliable Implicit Surface Polygonization Using Visibility Mapping  2006.
Eurographics Symposium on Geometry Processing (SGP)

PDF Google Scholar Robotics

• .
Adaptive Dynamics with Efficient Contact Handling for Articulated Robots  2006.
Robotics: Science and Systems (RSS)

PDF Project Google Scholar Robotics

• .
Practical Local Planning in the Contact Space  2005.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Robotics Collision Detection

• .
Path Planning for Deformable Robots in Complex Environments  2005.
Robotics: Science and Systems (RSS)

PDF Project Google Scholar Robotics

• .
Topology Preserving Isosurface Extraction for Geometry Processing  2005.

PDF Google Scholar Robotics

• .
Accurate Sampling Based Algorithms for Surface Extraction and Motion Planning  2005.
Ph.D. Dissertation, University of North Carolina at Chapel Hill

PDF Google Scholar Robotics

• .
A Simple Algorithm for Complete Motion Planning of Translating Polyhedral Robots  2005.
International Journal of Robotics Research (IJRR)

Google Scholar Robotics Geometric

• .
Constraint-based Motion Planning of Deformable Robots  2005.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar Robotics

• .
Constraint-based Motion Planning Using Voronoi Diagrams  2004.
Algorithmic Foundations of Robotics V: Selected Contributions of the Fifth International Workshop on the Algorithmic Foundations of Robotics (WAFR), Springer Tracts in Advanced Robotics (STAR)

PDF Project Google Scholar GPGPU Robotics

• .
Interactive Navigation in Complex Environments Using Path Planning  2003.
ACM SIGGRAPH Symposium on Interactive 3D Graphics (I3D)

PDF Project Google Scholar Robotics

• .
Constraint-Based Motion Planning for Virtual Prototyping  2002.
ACM Symposium on Solid Modeling and Applications (SMA)

PDF Project Google Scholar Robotics

• .
A Voronoi-based Hybrid Motion Planner  2001.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PDF Project Google Scholar GPGPU Robotics

• .
A Voronoi-based Hybrid Motion Planner for Rigid Bodies  2000.

PDF Google Scholar Robotics

• .
Randomized Path Planning for a Rigid Body Based on Hardware Accelerated Voronoi Sampling  2000.
Workshop on the Algorithmic Foundations of Robotics (WAFR)

PDF Project ColorPlates Google Scholar GPGPU Robotics

• .
Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams  2000.
IEEE International Conference on Robotics and Automation (ICRA)

PDF Project Google Scholar GPGPU Robotics

• .
Algebraic and Numeric Techniques in Modeling and Robotics  1992.
Ph.D. Thesis, University of California, Berkeley

PDF Google Scholar Robotics