Kavraki Lab
Physical and Biological Computing
Robotics
Bioinformatics
Publications
Software
Openings
Members
Awards
Robotics
Motion Planning with Kinodynamic and Physics-based Constraints
Kinodynamic Planning by Interior-Exterior Cell Exploration (
KPIECE
)
Path-Directed Subdivision Tree Exploration (
PDST
)
Synergistic Combination of Layers of Planning (
SyCLoP
)
Guided Expansive Spaces Trees
Hybrid Systems
Overview
Counterexample Search-based Approach for Safety Analysis of Hybrid Systems (
HyDICE
)
Falsification of LTL Safety Specifications using Sampling-based Algorithms (
TemporalHyDICE
)
Replanning
Replanning: A Motion Planning Strategy for Solving Hard Kinodynamic Problems
Distributed and Safe Replanning for Communicating Vehicles
Greedy but Safe Replanning for a Single Vehicle with Dynamics
Mobile Robotics
Bearing-Only Navigation Without a Map or Localization
Bearing-Only Simultaneous Localization and Mapping
Localization Using the Signal Strength of Wireless Ethernet Network Packets
Earlier work on Path Planning
Probabilistic Roadmap Method (
PRM
) and its Analysis
Lazy PRM
-
Medial Axis PRM
-
PRM for Manipulation
Deformable Parts
-
Simulated Knot Tying
-
Mathematical Knot Untangling
Planning for Inspection
Decomposition-based Motion Planning
Distributed Sampling-based Roadmap of Trees (
DSRT
)
Sampling-based Roadmap of Trees (
SRT
)
Proximity Relations in High-Dimensional Metric Spaces
A High-Performance Distributed Platform For the Nearest-Neighbors Graph (
DKNNG
)
Approximate Nearest Neighbors for Motion Planning and Nonlinear Dimensionality Reduction (
DPES
and
hcDPES
)
Automation and Manipulation
Part Orientation Using Microelectromechanical (MEMS) arrays
Events
We have also organized workshops and tutorials related to some of the above topics.:
At the IROS 2008 conference in Nice, France, we organized a tutorial titled "
Motion planning with the OOPSMP toolkit: A hands-on tutorial on using state-of-the-art motion planning algorithms
."
The workshop on
Algorithmic Motion Planning for Autonomous Robots in Challenging Environments
took place in conjunction with the IROS 2007 conference, held in San Diego, CA between Oct. 29 to Nov. 2.
robotics