S. LaValle

Publications291
h-index54
Citations23,726
Highly Influential Citations1,967
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Planning algorithms
TLDR
This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
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Rapidly-exploring random trees : a new tool for path planning
We introduce the concept of a Rapidly-exploring Random Tree (RRT) as a randomized data structure that is designed for a broad class of path planning problems. While they share many of the bene cial…
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 two…
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Randomized Kinodynamic Planning
TLDR
A state-space perspective on the kinodynamic planning problem is presented, and a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems is introduced.
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Rapidly-Exploring Random Trees: Progress and Prospects
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Visibility-Based Pursuit-Evasion in a Polygonal Environment
This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually “see” an evader that is unpredictable, has unknown initial position, and is…
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Time-optimal paths for a Dubins airplane
TLDR
This model extends the Dubins car by L.E. Dubins (1957) to have altitude, which leads to Dubins airplane, and characterize the time-optimal trajectories for the system through the use of the Pontryagin Maximum Principle.
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Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain
TLDR
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.
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Structure and Intractability of Optimal Multi-Robot Path Planning on Graphs
TLDR
The NP-hardness proof for the time optimal versions of the discrete multi-robot path planning problem shows that these problems remain NP- hard even when there are only two groups of robots (i.e. robots within each group are interchangeable).
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A Visibility-Based Pursuit-Evasion Problem
This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually "see" an evader that is unpredictable, has unknown initial position, and is…
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