Share This Author
Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain
- A. Yershova, L. Jaillet, T. Siméon, S. LaValle
- Computer ScienceProceedings of the IEEE International Conference…
- 18 April 2005
This paper develops and implements a simple new planner which shows significant improvement over existing RRT-based planners and proposes a general framework for minimizing their effect.
Head tracking for the Oculus Rift
- S. LaValle, A. Yershova, Max Katsev, Michael Antonov
- Computer ScienceIEEE International Conference on Robotics and…
- 29 September 2014
Methods for efficiently maintaining human head orientation using low-cost MEMS sensors and novel predictive tracking methods that dramatically reduce effective latency (time lag) are presented, which further improves the user experience.
Adaptive tuning of the sampling domain for dynamic-domain RRTs
- L. Jaillet, A. Yershova, S. LaValle, T. Siméon
- Computer ScienceIEEE/RSJ International Conference on Intelligent…
- 5 December 2005
A new variant of the dynamic-domain RRT, which iteratively adapts the sampling domain for the Voronoi region of each node during the search process, which allows automatic tuning of the parameter and significantly increases the robustness of the algorithm.
Generating Uniform Incremental Grids on SO(3) Using the Hopf Fibration
This work presents the best-known method to date for constructing incremental, deterministic grids on SO(3), which provides the lowest metric distortion for grid neighbor edges, optimal dispersion-reduction with each additional sample, and explicit neighborhood structure.
Incremental Grid Sampling Strategies in Robotics
Algorithms for generating deterministic sample sequences using incremental grid-based sampling to generate dense sample sequences over spaces common in robotics, such as the unit cube, SO(3), and SE(3).
Deterministic sampling methods for spheres and SO(3)
An infinite sequence of samples is shown to achieve low-dispersion, which aids in the development of resolution complete algorithms, lattice structure, which allows easy neighbor identification that is comparable to what is obtained for a grid in /spl Ropf//sup d/, and incremental quality, which is similar to that obtained by random sampling.
Algorithms and Analytic Solutions Using Sparse Residual Dipolar Couplings for High-Resolution Automated Protein Backbone Structure Determination by NMR
New algorithms that expand the types and number of RDCs from which analytic solutions are computed and are able to determine high-resolution backbone structures from a limited amount of NMR data are presented.
Improving Motion-Planning Algorithms by Efficient Nearest-Neighbor Searching
This paper presents and implements an algorithm for performing NN queries in Cartesian products of R, S1, and RP3, the most common topological spaces in the context of motion planning, and extends the algorithm based on kd-trees, called ANN, developed by Arya and Mount for Euclidean spaces.
Motion Planning for Highly Constrained Spaces
In many motion planing problems, the feasible subspace becomes thin in some directions. This is often due to kinematic closure constraints, which restrict the feasible configurations to a…
Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot
- Max Katsev, A. Yershova, Benjamín Tovar, R. Ghrist, S. LaValle
- Computer ScienceIEEE Transactions on Robotics
- 1 February 2011
This paper defines and analyzes a simple robot with local sensors that moves in an unknown polygonal environment. The robot can execute wall-following motions and can traverse the interior of the…