Lydia E. Kavraki

According to our database1, Lydia E. Kavraki authored at least 185 papers between 1993 and 2020.

Collaborative distances:

Awards

ACM Fellow

ACM Fellow 2010, "For contributions to robotic motion planning and its application to computational biology.".

IEEE Fellow

IEEE Fellow 2012, "For contributions to robot-motion planning and computational biology".

Timeline

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PhD thesis 
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Bibliography

2020
Increasing Robot Autonomy via Motion Planning and an Augmented Reality Interface.
IEEE Robotics Autom. Lett., 2020

A scalable motion planner for high-dimensional kinematic systems.
I. J. Robotics Res., 2020

Improving the organization and interactivity of metabolic pathfinding with precomputed pathways.
BMC Bioinform., 2020

2019
Learning Feasibility for Task and Motion Planning in Tabletop Environments.
IEEE Robotics Autom. Lett., 2019

Point-Based Policy Synthesis for POMDPs With Boolean and Quantitative Objectives.
IEEE Robotics Autom. Lett., 2019

Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis.
IEEE Robotics Autom. Lett., 2019

Online motion planning for unexplored underwater environments using autonomous underwater vehicles.
J. Field Robotics, 2019

Exploring implicit spaces for constrained sampling-based planning.
I. J. Robotics Res., 2019

Guest Editorial: Special Issue on the 2016 Workshop on the Algorithmic Foundations of Robotics (WAFR).
I. J. Robotics Res., 2019

How Much Do Unstated Problem Constraints Limit Deep Robotic Reinforcement Learning?
CoRR, 2019

Online Multilayered Motion Planning with Dynamic Constraints for Autonomous Underwater Vehicles.
Proceedings of the International Conference on Robotics and Automation, 2019

Lazy Evaluation of Goal Specifications Guided by Motion Planning.
Proceedings of the International Conference on Robotics and Automation, 2019

Efficient Symbolic Reactive Synthesis for Finite-Horizon Tasks.
Proceedings of the International Conference on Robotics and Automation, 2019

Using Local Experiences for Global Motion Planning.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
The Task-Motion Kit: An Open Source, General-Purpose Task and Motion-Planning Framework.
IEEE Robotics Autom. Mag., 2018

Randomized Physics-Based Motion Planning for Grasping in Cluttered and Uncertain Environments.
IEEE Robotics Autom. Lett., 2018

Platform-Independent Benchmarks for Task and Motion Planning.
IEEE Robotics Autom. Lett., 2018

Maintaining and Enhancing Diversity of Sampled Protein Conformations in Robotics-Inspired Methods.
J. Comput. Biol., 2018

An incremental constraint-based framework for task and motion planning.
I. J. Robotics Res., 2018

Native state of complement protein C3d analysed via hydrogen exchange and conformational sampling.
Int. J. Comput. Biol. Drug Des., 2018

Online Partial Conditional Plan Synthesis for POMDPs with Safe-Reachability Objectives.
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

General Prediction of Peptide-MHC Binding Modes Using Incremental Docking: A Proof of Concept.
Proceedings of the 2018 ACM International Conference on Bioinformatics, 2018

Bounded Policy Synthesis for POMDPs with Safe-Reachability Objectives.
Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems, 2018

2017
Defining Low-Dimensional Projections to Guide Protein Conformational Sampling.
J. Comput. Biol., 2017

Decoupling Constraints from Sampling-Based Planners.
Proceedings of the Robotics Research, The 18th International Symposium, 2017

Reactive synthesis for finite tasks under resource constraints.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Robonaut 2 and you: Specifying and executing complex operations.
Proceedings of the 2017 IEEE Workshop on Advanced Robotics and its Social Impacts, 2017

2016
Motion Planning.
Proceedings of the Springer Handbook of Robotics, 2016

Iterative Temporal Planning in Uncertain Environments With Partial Satisfaction Guarantees.
IEEE Trans. Robotics, 2016

Special Issue on the 2014 Robotics Science & Systems Conference.
I. J. Robotics Res., 2016

Unix Philosophy and the Real World: Control Software for Humanoid Robots.
Frontiers Robotics AI, 2016

Big Data on Robotics.
Big Data, 2016

A General Algorithm for Time-Optimal Trajectory Generation Subject to Minimum and Maximum Constraints.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Incremental Task and Motion Planning: A Constraint-Based Approach.
Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

Planning feasible and safe paths online for autonomous underwater vehicles in unknown environments.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

High-dimensional Winding-Augmented Motion Planning with 2D topological task projections and persistent homology.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Task and Motion Policy Synthesis as Liveness Games.
Proceedings of the Twenty-Sixth International Conference on Automated Planning and Scheduling, 2016

2015
Extending the Applicability of POMDP Solutions to Robotic Tasks.
IEEE Trans. Robotics, 2015

Benchmarking Motion Planning Algorithms: An Extensible Infrastructure for Analysis and Visualization.
IEEE Robotics Autom. Mag., 2015

Editorial: special issue on the 2014 "Robotics: Science & Systems" conference.
Auton. Robots, 2015

A heuristic approach to finding diverse short paths.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Towards manipulation planning with temporal logic specifications.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Kinematically constrained workspace control via linear optimization.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

Improving protein conformational sampling by using guiding projections.
Proceedings of the 2015 IEEE International Conference on Bioinformatics and Biomedicine, 2015

Structure-guided selection of Specificity Determining Positions in the human kinome.
Proceedings of the 2015 IEEE International Conference on Bioinformatics and Biomedicine, 2015

This Time the Robot Settles for a Cost: A Quantitative Approach to Temporal Logic Planning with Partial Satisfaction.
Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence, 2015

2014
An Extensible Benchmarking Infrastructure for Motion Planning Algorithms.
CoRR, 2014

Asymptotically Optimal Stochastic Motion Planning with Temporal Goals.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014

SMT-based synthesis of integrated task and motion plans from plan outlines.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Fast stochastic motion planning with optimality guarantees using local policy reconfiguration.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

A sampling-based strategy planner for nondeterministic hybrid systems.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Active Planning, Sensing, and Recognition Using a Resource-Constrained Discriminant POMDP.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2014

Optimal and Efficient Stochastic Motion Planning in Partially-Known Environments.
Proceedings of the Twenty-Eighth AAAI Conference on Artificial Intelligence, 2014

2013
Falsification of LTL safety properties in hybrid systems.
Int. J. Softw. Tools Technol. Transf., 2013

Combinatorial Clustering of Residue Position Subsets Predicts Inhibitor Affinity across the Human Kinome.
PLoS Computational Biology, 2013

Software for project-based learning of robot motion planning.
Comput. Sci. Educ., 2013

Anytime solution optimization for sampling-based motion planning.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Automated model approximation for robotic navigation with POMDPs.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Resolution Independent Density Estimation for motion planning in high-dimensional spaces.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Iterative temporal motion planning for hybrid systems in partially unknown environments.
Proceedings of the 16th international conference on Hybrid systems: computation and control, 2013

Improving the Prediction of Kinase Binding Affinity Using Homology Models.
Proceedings of the ACM Conference on Bioinformatics, 2013

Combining a POMDP Abstraction with Replanning to Solve Complex, Position-Dependent Sensing Tasks.
Proceedings of the 2013 AAAI Fall Symposia, Arlington, Virginia, USA, November 15-17, 2013, 2013

2012
A Sampling-Based Tree Planner for Systems With Complex Dynamics.
IEEE Trans. Robotics, 2012

The Open Motion Planning Library.
IEEE Robotics Autom. Mag., 2012

Safe distributed motion coordination for second-order systems with different planning cycles.
I. J. Robotics Res., 2012

Modeling Structures and Motions of Loops in Protein Molecules.
Entropy, 2012

Multi-robot target verification with reachability constraints.
Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2012

Multi-objective sensor-based replanning for a car-like robot.
Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2012

Low-dimensional projections for SyCLoP.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Accounting for uncertainty in simultaneous task and motion planning using task motion multigraphs.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Auto dock-based incremental docking protocol to improve docking of large ligands.
Proceedings of the 2012 IEEE International Conference on Bioinformatics and Biomedicine Workshops, 2012

2011
An Algorithm for Efficient Identification of Branched Metabolic Pathways.
J. Comput. Biol., 2011

The LabelHash Server and Tools for substructure-based functional annotation.
Bioinform., 2011

Identifying Branched Metabolic Pathways by Merging Linear Metabolic Pathways.
Proceedings of the Research in Computational Molecular Biology, 2011

On the advantages of task motion multigraphs for efficient mobile manipulation.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Mobile manipulation: Encoding motion planning options using task motion multigraphs.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

On modeling peptidomimetics in complex with the SH2 domain of Stat3.
Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011

Teaching motion planning concepts to undergraduate students.
Proceedings of the Advanced Robotics and its Social Impacts, 2011

2010
Motion Planning With Dynamics by a Synergistic Combination of Layers of Planning.
IEEE Trans. Robotics, 2010

The LabelHash Algorithm for Substructure Matching.
BMC Bioinform., 2010

Analysis of substructural variation in families of enzymatic proteins with applications to protein function prediction.
BMC Bioinform., 2010

Finding metabolic pathways using atom tracking.
Bioinform., 2010

Asynchronous Distributed Motion Planning with Safety Guarantees under Second-Order Dynamics.
Proceedings of the Algorithmic Foundations of Robotics IX, 2010

On the implementation of single-query sampling-based motion planners.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Sampling-based motion planning with temporal goals.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Motion planning with hybrid dynamics and temporal goals.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

2009
Safe and Distributed Kinodynamic Replanning for Vehicular Networks.
MONET, 2009

Hybrid systems: from verification to falsification by combining motion planning and discrete search.
Formal Methods Syst. Des., 2009

Computational challenges in systems biology.
Comput. Sci. Rev., 2009

On the performance of random linear projections for sampling-based motion planning.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Real-time perception-guided motion planning for a personal robot.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

2008
Motion Planning.
Proceedings of the Springer Handbook of Robotics, 2008

Prediction of enzyme function based on 3D templates of evolutionarily important amino acids.
BMC Bioinform., 2008

Kinodynamic Motion Planning by Interior-Exterior Cell Exploration.
Proceedings of the Algorithmic Foundation of Robotics VIII, 2008

Replanning: A powerful planning strategy for hard kinodynamic problems.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Kinodynamic motion planning with hardware demonstrations.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Impact of workspace decompositions on discrete search leading continuous exploration (DSLX) motion planning.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Visualizing the Results of Metabolic Pathway Queries.
Proceedings of the Graph Drawing, 16th International Symposium, GD 2008, Heraklion, Crete, 2008

2007
Distributed computation of the knn graph for large high-dimensional point sets.
J. Parallel Distributed Comput., 2007

The MASH Pipeline for Protein Function Prediction and an Algorithm for the Geometric Refinement of 3D Motifs.
J. Comput. Biol., 2007

Cavity Scaling: Automated Refinement of Cavity-Aware motifs in protein Function Prediction.
J. Bioinform. Comput. Biol., 2007

Sampling-based robot motion planning: Towards realistic applications.
Comput. Sci. Rev., 2007

Sampling Conformation Space to Model Equilibrium Fluctuations in Proteins.
Algorithmica, 2007

Nonlinear Dimensionality Reduction using Approximate Nearest Neighbors.
Proceedings of the Seventh SIAM International Conference on Data Mining, 2007

Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning.
Proceedings of the Robotics: Science and Systems III, 2007

A distributed protocol for safe real-time planning of communicating vehicles with second-order dynamics.
Proceedings of the 1st International Conference on Robot Communication and Coordination, 2007

A decentralized planner that guarantees the safety of communicating vehicles with complex dynamics that replan online.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

A Motion Planner for a Hybrid Robotic System with Kinodynamic Constraints.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

OOPS for Motion Planning: An Online, Open-source, Programming System.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Greedy but Safe Replanning under Kinodynamic Constraints.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Hybrid Systems: From Verification to Falsification.
Proceedings of the Computer Aided Verification, 19th International Conference, 2007

2006
Path planning for deformable linear objects.
IEEE Trans. Robotics, 2006

Low-dimensional, free-energy landscapes of protein-folding reactions by nonlinear dimensionality reduction.
Proc. Natl. Acad. Sci. USA, 2006

Quantitative Analysis of Nearest-Neighbors Search in High-Dimensional Sampling-Based Motion Planning.
Proceedings of the Algorithmic Foundation of Robotics VII, 2006

Geometric Sieving: Automated Distributed Optimization of 3D Motifs for Protein Function Prediction.
Proceedings of the Research in Computational Molecular Biology, 2006

Evaluation of Algorithms for bearing-only SLAM.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

2005
Robotics-Based Location Sensing Using Wireless Ethernet.
Wirel. Networks, 2005

Sampling-Based Roadmap of Trees for Parallel Motion Planning.
IEEE Trans. Robotics, 2005

Editorial: Special Issue on Robotics Techniques Applied to Computational Biology.
I. J. Robotics Res., 2005

Improving conformational searches by geometric screening.
Bioinform., 2005

Robot Homing by Exploiting Panoramic Vision.
Auton. Robots, 2005

Motion Planning in the Presence of Drift, Underactuation and Discrete System Changes.
Proceedings of the Robotics: Science and Systems I, 2005

Algorithms for Structural Comparison and Statistical Analysis of 3D Protein Motifs.
Proceedings of the Biocomputing 2005, 2005

Fast intersection checking for parametric deformable models.
Proceedings of the Medical Imaging 2005: Image Processing, 2005

Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Path Planning for Variable Resolution Minimal-Energy Curves of Constant Length.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004
Robotics.
Proceedings of the Handbook of Discrete and Computational Geometry, Second Edition., 2004

Measure theoretic analysis of probabilistic path planning.
IEEE Trans. Robotics Autom., 2004

On the feasibility of using wireless ethernet for indoor localization.
IEEE Trans. Robotics, 2004

Using Motion Planning for Knot Untangling.
I. J. Robotics Res., 2004

Fast Tree-Based Exploration of State Space for Robots with Dynamics.
Proceedings of the Algorithmic Foundations of Robotics VI, 2004

Practical robust localization over large-scale 802.11 wireless networks.
Proceedings of the 10th Annual International Conference on Mobile Computing and Networking, 2004

Guided Expansive Spaces Trees: a Search Strategy for Motion- and Cost-constrained State Spaces.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

Path Planning for Minimal Energy Curves of Constant Length.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

Angle-based Methods for Mobile Robot Navigation: Reaching the Entire Plane.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003
Understanding Protein Flexibility through Dimensionality Reduction.
J. Comput. Biol., 2003

Probabilistic Roadmaps of Trees for Parallel Computation of Multiple Query Roadmaps.
Proceedings of the Robotics Research, The Eleventh International Symposium, 2003

Multiple query probabilistic roadmap planning using single query planning primitives.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

2002
A New Method for Fast and Accurate Derivation of Molecular Conformations.
J. Chem. Inf. Comput. Sci., 2002

Algorithmic issues in modeling motion.
ACM Comput. Surv., 2002

Motion Planning for Knot Untangling.
Proceedings of the Algorithmic Foundations of Robotics V, 2002

A dimensionality reduction approach to modeling protein flexibility.
Proceedings of the Sixth Annual International Conference on Computational Biology, 2002

Robotics-based location sensing using wireless ethernet.
Proceedings of the Eighth Annual International Conference on Mobile Computing and Networking, 2002

Using wireless Ethernet for localization.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002

Simulated Knot Tying.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Generalizing the Analysis of PRM.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001
Randomized path planning for linkages with closed kinematic chains.
IEEE Trans. Robotics Autom., 2001

Positioning of Symmetric and Nonsymmetric Parts Using Radial and Constant Fields: Computation of All Equilibrium Configurations.
I. J. Robotics Res., 2001

Planning Paths for Elastic Objects under Manipulation Constraints.
I. J. Robotics Res., 2001

Part orientation with a force field: orienting multiple shapes using a single field.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001

Molecular Docking: A Problem with Thousands of Degrees of Freedom.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

A Geometric Approach to Designing a Programmable Force Field with a Unique Stable Equilibrium for Parts in the Plane.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

Decomposition-based Motion Planning: A Framework for Real-time Motion Planning in High-dimensional Spaces.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

2000
Part orientation with one or two stable equilibria using programmable force fields.
IEEE Trans. Robotics Autom., 2000

A randomized kinematics-based approach to pharmacophore-constrained conformational search and database screening.
J. Comput. Chem., 2000

A two level fuzzy PRM for manipulation planning.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000

Part assembly using static and dynamic force fields.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000

Positioning and Orienting a Class of Symmetric Parts Using a Combination of a Unit-Radial and a Constant Force Fields.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

A Framework for Using the Workspace Medial Axis in PRM Planners.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Randomized Planning for Short Inspection Paths.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Path Planning Using Lazy PRM.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Deformable Volumes in Path Planning Applications.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

1999
Computational Approaches to Drug Design.
Algorithmica, 1999

Efficient database screening for rational drug design using pharmacophore-constrained conformational search.
Proceedings of the Third Annual International Conference on Research in Computational Molecular Biology, 1999

A probabilistic roadmap planner for flexible objects with a workspace medial-axis-based sampling approach.
Proceedings of the Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999

Path Planning for Elastic Plates Under Manipulation Constraints.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

A Probabilistic Roadmap Approach for Systems with Closed Kinematic Chains.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

Robot Algorithms.
Proceedings of the Algorithms and Theory of Computation Handbook., 1999

1998
Analysis of probabilistic roadmaps for path planning.
IEEE Trans. Robotics Autom., 1998

Randomized Query Processing in Robot Path Planning.
J. Comput. Syst. Sci., 1998

RAPID: Randomized pharmacophore identification for drug design.
Comput. Geom., 1998

Capturing the Connectivity of High-Dimensional Geometric Spaces by Parallelizable Random Sampling Techniques.
Proceedings of the Parallel and Distributed Processing, 10 IPPS/SPDP'98 Workshops Held in Conjunction with the 12th International Parallel Processing Symposium and 9th Symposium on Parallel and Distributed Processing, Orlando, Florida, USA, March 30, 1998

Planning Paths for a Flexible Surface Patch.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

1997
A Random Sampling Scheme for Path Planning.
I. J. Robotics Res., 1997

Part orientation with programmable vector fields: two stable equilibria for most parts.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

1996
Probabilistic roadmaps for path planning in high-dimensional configuration spaces.
IEEE Trans. Robotics Autom., 1996

Geometric Manipulation of Flexible Ligands.
Proceedings of the Applied Computational Geormetry, 1996

1995
Computation of configuration-space obstacles using the fast Fourier transform.
IEEE Trans. Robotics Autom., 1995

Partitioning a Planar Assembly Into Two Connected Parts is NP-Complete.
Inf. Process. Lett., 1995

Two-Handed Assembly Sequencing.
I. J. Robotics Res., 1995

Randomized query processing in robot path planning (Extended Abstract).
Proceedings of the Twenty-Seventh Annual ACM Symposium on Theory of Computing, 1995

1994
Randomized preprocessing of configuration space for path planning: articulated robots.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1994

Treatment Planning for a Radiosurgical System with General Kinematics.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

Randomized Preprocessing of Configuration Space for Fast Path Planning.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993
On the Complexity of Assembly Partitioning.
Inf. Process. Lett., 1993


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