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

(683) .
Realtime Planning for High-DOF Deformable Bodies using Two-Stage Learning  2018.
IEEE International Conference on Robotics and Automation (ICRA)

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(686) .
Manipulating Highly Deformable Materials Using a Visual Feedback Dictionary  2018.
IEEE International Conference on Robotics and Automation (ICRA)

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(687) .
Fast and Bounded Probabilistic Collision Detection for High-DOF Trajectory Planning in Dynamic Environments  2018.
IEEE Transactions on Automation Science and Engineering

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(688) .
An Efficient Acyclic Contact Planner for Multiped Robots  2018.
IEEE Transactions on Robotics

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(689) .
Fluid Directed Rigid Body Control using Deep Reinforcement Learning  2018.
ACM Transactions on Graphics

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(691) .
Spoke-Darts for High-Dimensional Blue-Noise Sampling  2018.
ACM Transactions on Graphics

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(693) .
Classifying Group Emotions for Socially-Aware Autonomous Vehicle Navigation  2018.
IEEE Conference on Computer Vision and Pattern Recognition Workshops

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(696) .
Realtime Hand-Object Interaction using Learned Grasp Space for Virtual Environments  2018.
IEEE Transactions on Visualization and Computer Graphics (TVCG)

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(697) .
PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrians  2018.
IEEE ROBOTICS AND AUTOMATION LETTERS

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(715) .
Efficient Inverse Kinematics for Redundant Manipulators with Collision Avoidance in Dynamic Scenes  2018.
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO2018)

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(655) .
Motion Recognition of Self & Others on Realistic 3D Avatars  2017.
Computer Animation & Virtual Worlds

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(675) .
Intention-Aware Motion Planning Using Learning Based Human Motion Prediction  2017.
Proceedings of RSS (Robotics: Science and System)

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(676) .
Intention-Aware Motion Planning Using Learning Based Human Motion Prediction  2017.
Proceedings of RSS (Robotics: Science and System)

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(608) .
Dynamically Balanced and Plausible Trajectory Planning for Human-Like Characters  2016.
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games

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(640) .
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

(650) .
Interactive Crowd-Behavior Learning for Surveillance and Training  2016.
IEEE Computer Graphics and Applications

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(579) .
Interactive Continuous Collision Detection for Topology Changing Models Using Dynamic Clustering  2015.
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games

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(595) .
Efficient Global Penetration Depth Computation for Articulated Models  2015.
Computer-Aided Design (Proceedings of GDSPM, Geometric Design and Solid and Physical Modeling)

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(600) .
A Reachability-based planner for sequences of acyclic contacts in cluttered environments  2015.
The International Symposium on Robotics Research (ISRR)

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(601) .
Simulating High-DOF Human-like Agents using Hierarchical Feedback Planner  2015.
The ACM Symposium on Virtual Reality Software and Technology (VRST)

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(602) .
Parallel Cartesian Planning in Dynamic Environments using Constrained Trajectory Planning  2015.
IEEE International Conference on Humanoid Robots (HUMANOIDS)

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(484) .
Smooth Coordination and Navigation for Multiple Differential-Drive Robots  2014.
Experimental Robotics: The 12th International Symposium (ISER), Springer Tracts in Advanced Robotics (STAR)

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(564) .
Poisson-RRT  2014.
IEEE International Conference on Robotics and Automation (ICRA)

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(570) .
High-DOF Robots in Dynamic Environments using Incremental Trajectory Optimization  2014.
International Journal of Humanoid Robotics (IJHR)

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(571) .
DenseSense: Interactive Crowd Simulation using Density-Dependent Filters  2014.
ACM SIGGRAPH / Eurographics Symposium on Computer Animation

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(574) .
Ped-Air: a Simulator for Loading, Unloading, and Evacuating Aircraft  2014.
Pedestrian and Evacuation Dynamics 2014

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(575) .
Smooth and Dynamically Stable Navigation of Multiple Human-Like Robots  2014.
The Eleventh International Workshop on the Algorithmic Foundations of Robotics (WAFR)

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(577) .
Fast and Dynamically Stable Optimization-based Planning for High-DOF Human-like Robots  2014.
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS)

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(546) .
Real-time Optimization-based Planning in Dynamic Environments using GPUs  2013.
IEEE International Conference on Robotics and Automation (ICRA)

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(554) .
Continuous Penetration Depth  2013.
Computer-Aided Design (Proc. of SIAM Conference on Geometric and Physical Modeling)

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(589) .
Goal Velocity Obstacles for Spatial Navigation of Multiple Virtual Agents  2013.
International Conference on Autonomous Agents and Multiagent Systems (AAMAS)

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(508) .
Way Portals: Efficient Multi-Agent Naviation with Line-Segment Goals  2012.
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games (I3D)

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(512) .
Least-effort Trajectories Lead to Emergent Crowd Behaviors  2012.
Physical Review E

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(514) .
LQG-Obstacles: Feedback Control with Collision Avoidance for Mobile Robots Under Uncertainty  2012.
IEEE International Conference on Robotics and Automation (ICRA)

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(515) .
Real-Time Footstep Planning for Humanoid Robots Among 3D Obstacles Using a Hybrid Bounding Box  2012.
IEEE International Conference on Robotics and Automation (ICRA)

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(530) .
ITOMP: Incremental Trajectory Optimization for Real-Time Replanning in Dynamic Environments  2012.
International Conference on Automated Planning and Scheduling (ICAPS)

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(534) .
Collision-free and Smooth Trajectory Computation in Cluttered Environments  2012.
International Journal of Robotics Research (IJRR)

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(538) .
A Statistical Similarity Measure for Aggregate Crowd Dynamics  2012.
ACM Transactions on Graphics (Proc SIGGRAPH Asia)

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(412) .
Reciprocal n-body Collision Avoidance  2011.
Robotics Research: The 14th International Symposium (ISRR), Springer Tracts in Advanced Robotics (STAR)

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(482) .
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)

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(483) .
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)

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(485) .
Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles  2011.
IEEE International Conference on Robotics and Automation (ICRA)

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(487) .
The Hybrid Reciprocal Velocity Obstacle  2011.
IEEE Transactions on Robotics (T-RO)

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(495) .
Collision-free and Curvature-continuous Path Smoothing in Cluttered Environments  2011.
Robotics: Science and Systems (RSS)

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(504) .
Walk This Way: A Lightweight, Data-driven Walking Synthesis Algorithm  2011.
Motion in Games: 4th International Conference (MIG), Lecture Notes in Computer Science (LNCS)

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(420) .
Navigating Multiple Simple-Airplanes in 3D Workspace  2010.
IEEE International Conference on Robotics and Automation (ICRA)

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(426) .
Directing Crowd Simulations Using Navigation Fields  2010.
IEEE Transactions on Visualization and Computer Graphics (TVCG)

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(429) .
Independent Navigation of Multiple Robots and Virtual Agents  2010.
International Conference on Autonomous Agents and Multiagent Systems (AAMAS)

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(433) .
Retraction-based RRT Planner for Articulated Models  2010.
IEEE International Conference on Robotics and Automation (ICRA)

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(444) .
Continuous Collision Detection for Non-rigid Contact Computations Using Local Advancement  2010.
IEEE International Conference on Robotics and Automation (ICRA)

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(454) .
A Hybrid Approach for Simulating Human Motion in Constrained Environments  2010.
Computer Animation and Virtual Worlds (CAVW)

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(461) .
g-Planner: Real-time Motion Planning and Global Navigation Using GPUs  2010.
AAAI Conference on Artificial Intelligence (AAAI)

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(467) .
Smooth and Collision-Free Navigation for Multiple Robots Under Differential-Drive Constraints  2010.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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(470) .
Efficient Nearest-neighbor Computation for GPU-based Motion Planning  2010.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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(492) .
Physically-based Sampling for Motion Planning  2010.
Ph.D. Dissertation, University of North Carolina at Chapel Hill

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(394) .
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

(398) .
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)

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(400) .
Global Vector Field Computation for Feedback Motion Planning  2009.
IEEE International Conference on Robotics and Automation (ICRA)

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(401) .
Multi-robot Coordination Using Generalized Social Potential Fields  2009.
IEEE International Conference on Robotics and Automation (ICRA)

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(405) .
Centralized Path Planning for Multiple Robots: Optimal Decoupling into Sequential Plans  2009.
Robotics: Science and Systems (RSS)

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(411) .
ClearPath: Highly Parallel Collision Avoidance for Multi-agent Simulation  2009.
ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA)

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(417) .
Independent Navigation of Multiple Mobile Robots with Hybrid Reciprocal Velocity Obstacles  2009.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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(418) .
Motion Planning of Human-like Robots Using Constrained Coordination  2009.
IEEE-RAS International Conference on Humanoid Robots (Humanoids)

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(419) .
Generalized Velocity Obstacles  2009.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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(443) .
Efficient Motion Planning Using Generalized Penetration Depth Computation  2009.
Ph.D. Dissertation, University of North Carolina at Chapel Hill

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(309) .
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

(369) .
An Efficient Retraction-based RRT Planner  2008.
IEEE International Conference on Robotics and Automation (ICRA)

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(372) .
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

(373) .
Interactive Navigation of Multiple Agents in Crowded Environments  2008.
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games (I3D)

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(375) .
D-Plan: Efficient Collision-free Path Computation for Part Removal and Disassembly  2008.
International CAD Conference (Best Paper)

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(378) .
Interactive Navigation of Heterogeneous Agents Using Adaptive Roadmaps  2008.
IEEE Transactions on Visualization and Computer Graphics (TVCG)

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(380) .
Real-time Path Planning in Dynamic Virtual Environments Using Multi-agent Navigation Graphs  2008.
IEEE Transactions on Visualization and Computer Graphics (TVCG)

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(388) .
Composite Agents  2008.
ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA)

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(393) .
Efficient Cell Labelling and Path Non-existence Computation Using C-obstacle Query  2008.
International Journal of Robotics Research (IJRR)

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(268) .
Star-shaped Roadmaps: A Determinstic Sampling Approach for Complete Motion Planning  2007.
International Journal of Robotics Research (IJRR)

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(342) .
Surface Distace Maps  2007.
Graphics Interface

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(345) .
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

(346) .
Efficient Motion Planning of Highly Articulated Chains Using Physics-based Sampling  2007.
IEEE International Conference on Robotics and Automation (ICRA)

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(351) .
A Fast and Practical Algorithm for Generalized Penetration Depth Computation  2007.
Robotics: Science and Systems (RSS)

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(363) .
Reactive Deforming Roadmaps: Motion Planning of Multiple Robots in Dynamic Environments  2007.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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(368) .
Cable Route Planning in Complex Environments Using Constrained Sampling  2007.
ACM Symposium on Solid and Physical Modeling (SPM)

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(297) .
Fast C-obstacle Query Computation for Motion Planning  2006.
IEEE International Conference on Robotics and Automation (ICRA)

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(304) .
Generalized Penetration Depth Computation  2006.
ACM Symposium on Solid and Physical Modeling (SPM)

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(315) .
Topology Preserving Free Configuration Space Approximation  2006.
IEEE International Conference on Robotics and Automation (ICRA)

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(316) .
Reliable Implicit Surface Polygonization Using Visibility Mapping  2006.
Eurographics Symposium on Geometry Processing (SGP)

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(336) .
Adaptive Dynamics with Efficient Contact Handling for Articulated Robots  2006.
Robotics: Science and Systems (RSS)

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(246) .
Practical Local Planning in the Contact Space  2005.
IEEE International Conference on Robotics and Automation (ICRA)

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(277) .
Path Planning for Deformable Robots in Complex Environments  2005.
Robotics: Science and Systems (RSS)

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(318) .
Topology Preserving Isosurface Extraction for Geometry Processing  2005.

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(437) .
Accurate Sampling Based Algorithms for Surface Extraction and Motion Planning  2005.
Ph.D. Dissertation, University of North Carolina at Chapel Hill

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(64) .
A Simple Algorithm for Complete Motion Planning of Translating Polyhedral Robots  2005.
International Journal of Robotics Research (IJRR)

Google Scholar Robotics Geometric

(76) .
Constraint-based Motion Planning of Deformable Robots  2005.
IEEE International Conference on Robotics and Automation (ICRA)

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(11) .
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)

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(88) .
Interactive Navigation in Complex Environments Using Path Planning  2003.
ACM SIGGRAPH Symposium on Interactive 3D Graphics (I3D)

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(75) .
Constraint-Based Motion Planning for Virtual Prototyping  2002.
ACM Symposium on Solid Modeling and Applications (SMA)

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(9) .
A Voronoi-based Hybrid Motion Planner  2001.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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(451) .
A Voronoi-based Hybrid Motion Planner for Rigid Bodies  2000.

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(6) .
Randomized Path Planning for a Rigid Body Based on Hardware Accelerated Voronoi Sampling  2000.
Workshop on the Algorithmic Foundations of Robotics (WAFR)

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(7) .
Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams  2000.
IEEE International Conference on Robotics and Automation (ICRA)

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(500) .
Algebraic and Numeric Techniques in Modeling and Robotics  1992.
Ph.D. Thesis, University of California, Berkeley

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