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2005
Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning, Plaku E, Kavraki LE , IEEE International Conference on Robotics and Automation, April, Barcelona, Spain, p.3879-3884, (2005)

Probabilistic Roadmaps of Trees for Parallel Computation of Multiple Query Roadmaps, Akinc M, Bekris KE, Chen BY, Ladd AM, Plaku E, Kavraki LE, Dario P. and Chatila R , Robotic Research: The Eleventh International Symposium, p.80-89, (2005)

Sampling-Based Roadmap of Trees for Parallel Motion Planning, Plaku E, Bekris KE, Chen BY, Ladd AM, Kavraki LE , IEEE Transactions on Robotics, Volume 21, Number 4, p.597-608, (2005)

2003
Multiple Query Probabilistic Roadmap Planning Using Single Query Planning Primitives, Bekris KE, Chen BY, Ladd AM, Plaku E, Kavraki LE , 2003 IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), October, Las Vegas, NV, p.656-661, (2003)