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RRT-connect: An efficient approach to single-query path planning
A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building twoExpand
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Randomized Kinodynamic Planning
This paper presents the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design). The task is to determine control inputs to drive a robot from anExpand
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Randomized kinodynamic planning
  • S. LaValle, J. Kuffner
  • Mathematics, Computer Science
  • Proceedings IEEE International Conference on…
  • 10 May 1999
The paper presents a state-space perspective on the kinodynamic planning problem, and introduces a randomized path planning technique that computes collision-free kinodynamic trajectories for highExpand
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Footstep Planning for the Honda ASIMO Humanoid
Despite the recent achievements in stable dynamic walking for many humanoid robots, relatively little navigation autonomy has been achieved. In particular, the ability to autonomously select footExpand
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Manipulation planning on constraint manifolds
We present the Constrained Bi-directional Rapidly-Exploring Random Tree (CBiRRT) algorithm for planning paths in configuration spaces with multiple constraints. This algorithm provides a generalExpand
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Multipartite RRTs for Rapid Replanning in Dynamic Environments
The rapidly-exploring random tree (RRT) algorithm has found widespread use in the field of robot motion planning because it provides a single-shot, probabilistically complete planning method whichExpand
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  • 16
Effective sampling and distance metrics for 3D rigid body path planning
  • J. Kuffner
  • Computer Science, Mathematics
  • IEEE International Conference on Robotics and…
  • 6 July 2004
Important implementation issues in rigid body path planning are often overlooked. In particular, sampling-based motion planning algorithms typically require a distance metric defined on theExpand
  • 246
  • 16
Dex-Net 1.0: A cloud-based network of 3D objects for robust grasp planning using a Multi-Armed Bandit model with correlated rewards
This paper presents the Dexterity Network (Dex-Net) 1.0, a dataset of 3D object models and a sampling-based planning algorithm to explore how Cloud Robotics can be used for robust grasp planning. TheExpand
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Manipulation Planning Among Movable Obstacles
This paper presents the resolve spatial constraints (RSC) algorithm for manipulation planning in a domain with movable obstacles. Empirically we show that our algorithm quickly generates plans forExpand
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