L. Kavraki

Publications368
h-index66
Citations17,473
Highly Influential Citations912
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The Open Motion Planning Library
TLDR
The open motion planning library is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms, and it can be conveniently interfaced with other software components. Expand
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
TLDR
Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds). Expand
Path planning using lazy PRM
TLDR
The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner. Expand
Practical robust localization over large-scale 802.11 wireless networks
TLDR
The system is sufficiently robust to enable a variety of location-aware applications without requiring special-purpose hardware or complicated training and calibration procedures, and can be adapted to work with previously unknown user hardware. Expand
Analysis of probabilistic roadmaps for path planning
TLDR
This work provides an analysis of a path planning method which uses probabilistic roadmaps and provides estimates for N, the principal parameter of the method, in order to achieve failure probability within prescribed bounds. Expand
Kinodynamic Motion Planning by Interior-Exterior Cell Exploration
TLDR
Applications of motion planning have also expanded to fields such as graphics and computational biology, and the field that addresses planning for complex robots with kinematic and dynamic constraints is addressed. Expand
Randomized preprocessing of configuration for fast path planning
TLDR
This paper presents a new approach to path planning for robots with many degrees of freedom (DOF) operating in known static environments that is particularly attractive for many-DOF robots which have to perform many successive point-to-point motions in the same environment. Expand
Principles of Robot Motion: Theory, Algorithms, and Implementation ERRATA!!!! 1
Probabilistic Roadmaps for Robot Path Planning
TLDR
The planner is able to find paths involving robots with 10 dof in a fraction of a second after relatively short times for preprocessing, and theoretical analysis of the PRM algorithm provides bounds on the number of roadmap nodes needed for solving planning problems in spaces with certain geometric properties. Expand
Robotics-Based Location Sensing Using Wireless Ethernet
TLDR
By applying recent advances in probabilistic inference of position and sensor fusion from noisy signals, it is shown that the RF emissions from base stations as measured by off-the-shelf wireless Ethernet cards are sufficiently rich in information to permit a mobile device to reliably track its location. Expand
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