Kavraki Lab
Physical and Biological Computing

• 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
  • Sampling-based Roadmap of Trees (SRT)

• Motion Planning with Kinodynamic and Physics-based Constraints

  • Path-Directed Subdivision Tree Exploration (PDST)
  • Guided Expansive Spaces Trees
  • GRIP: Greedy but Safe Replanning for a Single Vehicle with Dynamics
  • Distributed and Safe Replanning for Communicating Vehicles
  • Discrete Search Leading Continuous Exploration (DSLX)

• Hybrid Systems

  • Motion Planning and Safety Testing for Hybrid Robotic Systems (HyDICE)

• Proximity Relations in High-Dimensional Metric Spaces

  • Approximate Nearest Neighbors for Motion Planning and Nonlinear Dimensionality Reduction (DPES and hcDPES)

• Large-scale Distributed Computing

  • Distributed Sampling-based Roadmap of Trees (DSRT)
  • A High-Performance Distributed Platform For the Nearest-Neighbors Graph (DKNNG)

• 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

• Automation and Manipulation

  • Part Orientation Using Microelectromechanical (MEMS) arrays

Events

We have also organized a workshop related to some of the above topics. 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.