• Publications
  • Influence
Planning algorithms
TLDR
Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Expand
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Rapidly-exploring random trees : a new tool for path planning
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RRT-connect: An efficient approach to single-query path planning
TLDR
A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. Expand
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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
TLDR
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 high degree-of-freedom problems. Expand
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Visibility-Based Pursuit-Evasion in a Polygonal Environment
TLDR
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 capable of moving arbitrarily fast. Expand
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Time-optimal paths for a Dubins airplane
  • H. Chitsaz, S. LaValle
  • Mathematics, Computer Science
  • 46th IEEE Conference on Decision and Control
  • 1 December 2007
TLDR
We consider finding a time-optimal trajectory for an airplane from some starting point and orientation to some finalpoint and orientation. Expand
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A Visibility-Based Pursuit-Evasion Problem
TLDR
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 capable of moving arbitrarily fast. Expand
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Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain
TLDR
We develop and implement a simple new planner which shows significant improvement over existing RRT-based planners, and propose a general framework for minimizing their effect. Expand
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