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Principles of Robot Motion: Theory, Algorithms, and Implementations [Book Review]
Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computerExpand
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Probabilistic roadmaps for path planning in high-dimensional configuration spaces
A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap isExpand
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Randomized Kinodynamic Motion Planning with Moving Obstacles
This paper presents a novel randomized motion planner for robots that must achieve a specified goal under kinematic and/or dynamic motion constraints while avoiding collision with moving obstaclesExpand
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Robot Motion Planning: A Distributed Representation Approach
We propose a new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space. AExpand
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Numerical potential field techniques for robot path planning
The authors investigate a path planning approach that consists of concurrently building and searching a graph connecting the local minima of a numerical potential field defined over the robot'sExpand
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Path planning in expansive configuration spaces
We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomly-sampled milestones. TheExpand
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A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking
This paper describes a new probabilistic roadmap (PRM) path planner that is: (1) single-query — instead of pre-computing a roadmap covering the entire free space, it uses the two input queryExpand
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Navigation Strategies for Exploring Indoor Environments
In this paper, we investigate safe and efficient map-building strategies for a mobile robot with imperfect control and sensing. In the implementation, a robot equipped with a range sensor buildsExpand
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Path Planning in Expansive Configuration Spaces
We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomly-sampled milestones. TheExpand
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Analysis of probabilistic roadmaps for path planning
Provides an analysis of a path planning method which uses probabilistic roadmaps. This method has proven very successful in practice, but the theoretical understanding of its performance is stillExpand
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