Publications on Sampling-Based Motion Planning

Simplicial Dijkstra and A* algorithms for optimal feedback planning. D. Yershov and S. M. LaValle. Advanced Robotics, 26(17):2065--2085, 2012. [pdf].

Space-filling trees: A new perspective on motion planning via incremental search. J. Kuffner and S. M. LaValle. In Proceedings IEEE International Conference on Intelligent Robots and Systems, 2011. [pdf].

Motion planning: The essentials. S. M. LaValle. IEEE Robotics and Automation Society Magazine, 18(1):79--89, 2011. [pdf].

Motion planning: Wild frontiers. S. M. LaValle. IEEE Robotics and Automation Society Magazine, 18(2):108--118, 2011. [pdf].

Simplicial Dijkstra and A* algorithms for optimal feedback planning. D. Yershov and S. M. LaValle. In Proceedings IEEE International Conference on Intelligent Robots and Systems, 2011. [pdf].

Sufficient conditions for the existence of resolution complete planning algorithms. D. Yershov and S. M. LaValle. In Proceedings Workshop on Algorithmic Foundations of Robotics (WAFR), 2010. [pdf].

Generating uniform incremental grids on SO(3) using the Hopf fibration. A. Yershova, S. Jain, S. M. LaValle, and J. C. Mitchell. International Journal of Robotics Research, 29(7), 2010. [pdf].

Survivability: Measuring and ensuring path diversity. L. H. Erickson and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2009. [pdf].

Motion planning. L. E. Kavraki and S. M. LaValle. In B. Siciliano and O. Khatib, editors, Springer Handbook of Robotics. Springer-Verlag, 2008. [pdf].

Motion planning for highly constrained spaces. A. Yershova and S. M. LaValle. Technical Report UIUCDCS-R-2008-2975, Department of Computer Science, University of Illinois, 2008. [pdf].

Generating uniform incremental grids on SO(3) using the Hopf fibration. A. Yershova, S. M. LaValle, and J. C. Mitchell. In Proceedings Workshop on Algorithmic Foundations of Robotics (WAFR), 2008. [pdf].

Improving the performance of sampling-based motion planning with symmetry-based gap reduction. P. Cheng, E. Frazzoli, and S. M. LaValle. IEEE Transactions on Robotics, 24(2):488--494, April 2008. [pdf].

Chapter 5: Sampling-Based Motion Planning, Planning Algorithms. S. M. LaValle. Cambridge University Press, Cambridge, U.K., 2006. [pdf] [Entire Book].

Chapter 14: Sampling-Based Planning Under Differential Constraints, Planning Algorithms. S. M. LaValle. Cambridge University Press, Cambridge, U.K., 2006. [pdf] [Entire Book].

Improving motion planning algorithms by efficient nearest-neighbor searching. A. Yershova and S. M. LaValle. IEEE Transactions on Robotics, 23(1):151--157, February 2007. [pdf].

A multiresolution approach for motion planning under differential constraints. S. R. Lindemann and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2006. [pdf].

Adaptive tuning of the sampling domain for dynamic-domain RRTs. L. Jaillet, A. Yershova, S. M. LaValle, and T. Simeon. In Proceedings IEEE International Conference on Intelligent Robots and Systems, 2005. [pdf].

Dynamic-domain RRTs: Efficient exploration by controlling the sampling domain. A. Yershova, L. Jaillet, T. Simeon, and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2005. [pdf].

On the relationship between classical grid search and probabilistic roadmaps. S. M. LaValle, M. S. Branicky, and S. R. Lindemann. International Journal of Robotics Research, 23(7/8):673--692, July/August 2004. [pdf].

Steps toward derandomizing RRTs. S. R. Lindemann and S. M. LaValle. In IEEE Fourth International Workshop on Robot Motion and Control, 2004. [pdf].

Improving the performance of sampling-based planners by using a symmetry-exploiting gap reduction algorithm. P. Cheng, E. Frazzoli, and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2004. [pdf].

Deterministic sampling methods for spheres and SO(3). A. Yershova and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2004. [pdf].

Incrementally reducing dispersion by increasing Voronoi bias in RRTs. S. R. Lindemann and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2004. [pdf].

The sampling-based neighborhood graph: A framework for planning and executing feedback motion strategies. L. Yang and S. M. LaValle. IEEE Transactions on Robotics and Automation, 20(3):419--432, June 2004. [pdf].

Current issues in sampling-based motion planning. S. R. Lindemann and S. M. LaValle. In P. Dario and R. Chatila, editors, Robotics Research: The Eleventh International Symposium, pages 36--54. Springer-Verlag, Berlin, 2005. [pdf].

Incremental low-discrepancy lattice methods for motion planning. S. R. Lindemann and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, pages 2920--2927, 2003. [pdf].

On the relationship between classical grid search and probabilistic roadmaps. S. M. LaValle and M. S. Branicky. In J.-D. Boissonat, J. Burdick, K. Y. Goldberg, and S. A. Hutchinson, editors, Algorithmic Foundations of Robotics. Springer-Verlag, Berlin, 2003. [pdf].

From dynamic programming to RRTs: Algorithmic design of feasible trajectories. S. M. LaValle. In A. Bicchi, H. I. Christensen, and D. Prattichizzo, editors, Control Problems in Robotics, pages 19--37. Springer-Verlag, Berlin, 2002. [pdf].

Deterministic vs. probabilistic roadmaps. M. S. Branicky, S. M. LaValle, K. Olson, and L. Yang. Unpublished manuscript, 2002, [pdf].

Pointers to quasi-monte carlo literature. S. M. LaValle. University of Illinois, December 2002, [pdf].

Efficient nearest neighbor searching for motion planning. A. Atramentov and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, pages 632--637, 2002. [pdf].

Resolution complete rapidly-exploring random trees. P. Cheng and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, pages 267--272, 2002. [pdf].

An improved random neighborhood graph approach. L. Yang and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, pages 254--259, 2002. [pdf].

Randomized kinodynamic planning. S. M. LaValle and J. J. Kuffner. International Journal of Robotics Research, 20(5):378--400, May 2001. [pdf].

RRT-based trajectory design for autonomous automobiles and spacecraft. P. Cheng, Z. Shen, and S. M. LaValle. Archives of Control Sciences, 11(3-4):167--194, 2001. [pdf].

Reducing metric sensitivity in randomized trajectory design. P. Cheng and S. M. LaValle. In Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 43--48, 2001. [pdf].

Quasi-randomized path planning. M. S. Branicky, S. M. LaValle, K. Olson, and L. Yang. In Proceedings IEEE International Conference on Robotics and Automation, pages 1481--1487, 2001. [pdf].

Randomized path planning for linkages with closed kinematic chains. J. Yakey, S. M. LaValle, and L. E. Kavraki. IEEE Transactions on Robotics and Automation, 17(6):951--958, December 2001. [pdf].

Rapidly-exploring random trees: Progress and prospects. S. M. LaValle and J. J. Kuffner. In B. R. Donald, K. M. Lynch, and D. Rus, editors, Algorithmic and Computational Robotics: New Directions, pages 293--308. A K Peters, Wellesley, MA, 2001. [pdf].

Using randomization to find and optimize feasible trajectories for nonlinear systems. P. Cheng, Z. Shen, and S. M. LaValle. In Proceedings Annual Allerton Conference on Communications, Control, Computing, pages 926--935, 2000. [pdf].

Rapidly-exploring random trees: Progress and prospects. S. M. LaValle and J. J. Kuffner. In Proceedings Workshop on the Algorithmic Foundations of Robotics, 2000. [pdf].

RRT-connect: An efficient approach to single-query path planning. J. J. Kuffner and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, pages 995--1001, 2000. [pdf].

A framework for planning feedback motion strategies based on a random neighborhood graph. L. Yang and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, pages 544--549, 2000. [pdf].

Randomized kinodynamic planning. S. M. LaValle and J. J. Kuffner. In Proceedings IEEE International Conference on Robotics and Automation, pages 473--479, 1999. [pdf].

A probabilistic roadmap approach for systems with closed kinematic chains. S. M. LaValle, J. Yakey, and L. E. Kavraki. In Proceedings IEEE International Conference on Robotics and Automation, pages 1671--1676, 1999. [pdf].

Rapidly-exploring random trees: A new tool for path planning. S. M. LaValle. TR 98-11, Computer Science Dept., Iowa State University, October 1998, [pdf].