Pipelined Consensus for Global State Estimation in Multi-Agent Systems. - Golnaz Habibi; Zachary Kingston; Zijian Wang 003; Mac Schwager; James McLurkin (AAMAS, 2015)

Kinematically constrained workspace control via linear optimization. - Zachary K. Kingston; Neil T. Dantam; Lydia E. Kavraki (Humanoids, 2015)

Distributed centroid estimation and motion controllers for collective transport by multi-robot systems. - Golnaz Habibi; Zachary Kingston; William Xie; Mathew Jellins; James McLurkin (ICRA, 2015)

Distributed Object Characterization with Local Sensing by a Multi-robot System. - Golnaz Habibi; Sándor P. Fekete; Zachary Kingston; James McLurkin (DARS, 2016)

Incremental Task and Motion Planning: A Constraint-Based Approach. - Neil T. Dantam; Zachary K. Kingston; Swarat Chaudhuri; Lydia E. Kavraki (Robotics: Science and Systems, 2016)

Robonaut 2 and you: Specifying and executing complex operations. - William Baker; Zachary Kingston; Mark Moll; Julia Badger; Lydia E. Kavraki (ARSO, 2017)

Decoupling Constraints from Sampling-Based Planners. - Zachary Kingston; Mark Moll; Lydia E. Kavraki (ISRR, 2017)

Sampling-Based Methods for Motion Planning with Constraints. - Zachary Kingston; Mark Moll; Lydia E. Kavraki (Annu. Rev. Control. Robotics Auton. Syst., 2018)

An incremental constraint-based framework for task and motion planning. - Neil T. Dantam; Zachary K. Kingston; Swarat Chaudhuri; Lydia E. Kavraki (Int. J. Robotics Res., 2018)

Exploring implicit spaces for constrained sampling-based planning. - Zachary Kingston; Mark Moll; Lydia E. Kavraki (Int. J. Robotics Res., 2019)

Informing Multi-Modal Planning with Synergistic Discrete Leads. - Zachary Kingston; Andrew M. Wells; Mark Moll; Lydia E. Kavraki (ICRA, 2020)

Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions. - Constantinos Chamzas; Zachary Kingston; Carlos Quintero-Peña; Anshumali Shrivastava; Lydia E. Kavraki (ICRA, 2021)

Finite-Horizon Synthesis for Probabilistic Manipulation Domains. - Andrew M. Wells; Zachary Kingston; Morteza Lahijanian; Lydia E. Kavraki; Moshe Y. Vardi (ICRA, 2021)

Using Experience to Improve Constrained Planning on Foliations for Multi-Modal Problems. - Zachary Kingston; Constantinos Chamzas; Lydia E. Kavraki (IROS, 2021)

HyperPlan: A Framework for Motion Planning Algorithm Selection and Parameter Optimization. - Mark Moll; Constantinos Chamzas; Zachary Kingston; Lydia E. Kavraki (IROS, 2021)

Robowflex: Robot Motion Planning with MoveIt Made Easy. - Zachary Kingston; Lydia E. Kavraki (IROS, 2022)

Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces. - S. Bora Bayraktar; Andreas Orthey; Zachary Kingston; Marc Toussaint; Lydia E. Kavraki (CoRR, 2022)

MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets. - Constantinos Chamzas; Carlos Quintero-Peña; Zachary Kingston; Andreas Orthey; Daniel Rakita; Michael Gleicher; Marc Toussaint; Lydia E. Kavraki (IEEE Robotics Autom. Lett., 2022)

Object Reconfiguration with Simulation-Derived Feasible Actions. - Yiyuan Lee; Wil Thomason; Zachary Kingston; Lydia E. Kavraki (ICRA, 2023)

Optimal Grasps and Placements for Task and Motion Planning in Clutter. - Carlos Quintero-Peña; Zachary Kingston; Tianyang Pan; Rahul Shome; Anastasios Kyrillidis; Lydia E. Kavraki (ICRA, 2023)

Robots as AI Double Agents: Privacy in Motion Planning. - Rahul Shome; Zachary Kingston; Lydia E. Kavraki (IROS, 2023)

Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces. - Servet B. Bayraktar; Andreas Orthey; Zachary Kingston; Marc Toussaint; Lydia E. Kavraki (IEEE Robotics Autom. Lett., 2023)

Scaling Multimodal Planning: Using Experience and Informing Discrete Search. - Zachary Kingston; Lydia E. Kavraki (IEEE Trans. Robotics, 2023)

Accelerating Long-Horizon Planning with Affordance-Directed Dynamic Grounding of Abstract Strategies. - Khen Elimelech; Zachary Kingston; Wil Thomason; Moshe Y. Vardi; Lydia E. Kavraki (ICRA, 2024)

Stochastic Implicit Neural Signed Distance Functions for Safe Motion Planning under Sensing Uncertainty. - Carlos Quintero-Peña; Wil Thomason; Zachary Kingston; Anastasios Kyrillidis; Lydia E. Kavraki (ICRA, 2024)

Motions in Microseconds via Vectorized Sampling-Based Planning. - Wil Thomason; Zachary Kingston; Lydia E. Kavraki (ICRA, 2024)

Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Motion Planning with Pointclouds. - Clayton W. Ramsey; Zachary Kingston; Wil Thomason; Lydia E. Kavraki (Robotics: Science and Systems, 2024)

Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Collision Checking. - Clayton W. Ramsey; Zachary Kingston; Wil Thomason; Lydia E. Kavraki (CoRR, 2024)

Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation. - Akshaya Agrawal; Parker Mayer; Zachary Kingston; Geoffrey A. Hollinger (CoRR, 2024)

CaStL: Constraints as Specifications through LLM Translation for Long-Horizon Task and Motion Planning. - Weihang Guo; Zachary Kingston; Lydia E. Kavraki (CoRR, 2024)

Scaling Long-Horizon Online POMDP Planning via Rapid State Space Sampling. - Yuanchu Liang; Edward Kim; Wil Thomason; Zachary Kingston; Hanna Kurniawati; Lydia E. Kavraki (CoRR, 2024)

Nearest-Neighbourless Asymptotically Optimal Motion Planning with Fully Connected Informed Trees (FCIT*). - Tyler S. Wilson; Wil Thomason; Zachary Kingston; Lydia E. Kavraki; Jonathan D. Gammell (CoRR, 2024)

Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation. - Weihang Guo; Zachary Kingston; Kaiyu Hang; Lydia E. Kavraki (CoRR, 2024)

Physics-Grounded Differentiable Simulation for Soft Growing Robots. - Lucas Chen; Yitian Gao; Sicheng Wang 002; Francesco Fuentes; Laura H. Blumenschein; Zachary Kingston (RoboSoft, 2025)

pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning. - Chih H. Huang; Pranav Jadhav; Brian Plancher; Zachary Kingston (CoRR, 2025)

Foam: A Tool for Spherical Approximation of Robot Geometry. - Sai Coumar; Gilbert Chang; Nihar Kodkani; Zachary Kingston (CoRR, 2025)

Evaluating Machine Learning Approaches for ASCII Art Generation. - Sai Coumar; Zachary Kingston (CoRR, 2025)

AORRTC: Almost-Surely Asymptotically Optimal Planning with RRT-Connect. - Tyler S. Wilson; Wil Thomason; Zachary Kingston; Jonathan D. Gammell (CoRR, 2025)

Underwater Multi-Robot Simulation and Motion Planning in Angler. - Akshaya Agrawal; Evan Palmer; Zachary Kingston; Geoffrey A. Hollinger (CoRR, 2025)

Exteroception through Proprioception Sensing through Improved Contact Modeling for Soft Growing Robots. - Francesco Fuentes; Serigne Diagne; Zachary Kingston; Laura H. Blumenschein (CoRR, 2025)