Local randomization in neighbor selection improves PRM roadmap quality. - Troy McMahon; Sam Ade Jacobs; Bryan Boyd; Lydia Tapia; Nancy M. Amato (IROS, 2012)

Sampling-based motion planning with reachable volumes: Theoretical foundations. - Troy McMahon; Shawna L. Thomas; Nancy M. Amato (ICRA, 2014)

Sampling based motion planning with reachable volumes: Application to manipulators and closed chain systems. - Troy McMahon; Shawna L. Thomas; Nancy M. Amato (IROS, 2014)

Reachable volume RRT. - Troy McMahon; Shawna L. Thomas; Nancy M. Amato (ICRA, 2015)

Manipulation planning with directed reachable volumes. - Troy McMahon; Read Sandström; Shawna L. Thomas; Nancy M. Amato (IROS, 2017)

Affordance Wayfields for Task and Motion Planning. - Troy McMahon; Odest Chadwicke Jenkins; Nancy M. Amato (IROS, 2018)

Sampling-based motion planning with reachable volumes for high-degree-of-freedom manipulators. - Troy McMahon; Shawna L. Thomas; Nancy M. Amato (Int. J. Robotics Res., 2018)

Improving Kinodynamic Planners for Vehicular Navigation with Learned Goal-Reaching Controllers. - Aravind Sivaramakrishnan; Edgar Granados; Seth Karten; Troy McMahon; Kostas E. Bekris (IROS, 2021)

Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains. - Troy McMahon; Aravind Sivaramakrishnan; Kushal Kedia; Edgar Granados; Kostas E. Bekris (IROS, 2022)

Data-Efficient Learning of High-Quality Controls for Kinodynamic Planning used in Vehicular Navigation. - Seth Karten; Aravind Sivaramakrishnan; Edgar Granados; Troy McMahon; Kostas E. Bekris (CoRR, 2022)

A Survey on the Integration of Machine Learning with Sampling-based Motion Planning. - Troy McMahon; Aravind Sivaramakrishnan; Edgar Granados; Kostas E. Bekris (Found. Trends Robotics, 2022)