CSCI-4290/6290: Robot Motion Planning
Fall 2003

Here is the list of all papers .

Eric Griffith: (Nonholonomic motion planning), November 7

• From Reeds and Shepp's to Continuous-Curvature Paths, Th. Fraichard and A. Scheuer. Accepted to IEEE Transactions on Robotics and Automation. Submitted in February 2002, revised in June 2003. ps
• From Reeds and Shepp's to continuous-curvature paths, Th. Fraichard and A. Scheuer and R. Desvigne, Proceedings of the International Conference on Advanced Robotics, pages 585--590, Oct 1999, Tokyo, Japan.
• Continuous-curvature path planning for car-like vehicles, A. Scheuer and Th. Fraichard, Proc. of the IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, volume 2, pages 997--1003, Sep 1997, Grenoble, France.

Yogi Girdhar: (Molecular modeling), November 7

• Teodoro, M., Phillips, G. N. Jr., and Kavraki, L. E.. Molecular Docking: A Problem with Thousands of Degrees of Freedom. In Proc. of the 2001 IEEE International Conference on Robotics and Automation (ICRA 2001), pp. 960-966
• A Motion Planning Approach to Flexible Ligand Binding. A.P. Singh, J.C. Latombe, and D.L. Brutlag. 7th Int. Conf. on Intelligent Systems for Molecular Biology (ISMB), AAAI Press, Menlo Park, CA, pp. 252-261, 1999.
• P. Finn and L. Kavraki. Computational Approaches to Drug Design, Algorithmica, 25, 1999, 347-371. pdf

Shyam Sunder: (Kinodynamic planning), November 11

• R. Kindel, D. Hsu, J.C. Latombe, S. Rock. Kinodynamic Motion Planning Amidst Moving Obstacles. Proceedings of IEEE Int. Conf. on Robotics and Automation, San Francisco, pages 537-543, April 2000.
• Randomized Kinodynamic Motion Planning with Moving Obstacles. D. Hsu, R. Kindel, J.C. Latombe, and S. Rock. Workshop on Algorithmic Foundations of Robotics (WAFR'00), Hanover, NH, March 2000.

Eric Meisner: (Collision detection), November 11

• Fast Proximity Queries with Swept Sphere Volumes, Eric Larsen, Stefan Gottschalk, Ming C. Lin, and Dinesh Manocha, Department of Computer Science, University of N. Carolina, Chapel Hill, TR99-018, 1999.
• E. Larsen, S. Gottschalk, M. Lin, and D. Manocha, Fast Distance Queries using Rectangular Swept Sphere Volumes, IEEE Conference on Robotics and Automation, San Francisco, CA, April 2000.
• Brian Mirtich, V-Clip: Fast and Robust Polyhedral Collision Detection, ACM Transactions on Graphics, vol. 17, no. 3, pages 177-208, July 1998.

Jonathan Morgan-Leamon: (PRMs for Closed Chains), November 14

• J. Yakey, S. M. LaValle, and L. E. Kavraki. Randomized path planning for linkages with closed kinematic chains. IEEE Transactions on Robotics and Automation, 17(6):951--958, December 2001.
• A Probabilistic Roadmap Approach for Systems with Closed Kinematic Chains by Steven M. LaValle, Jeffrey Yakey, and Lydia Kavraki, IEEE International Conference on Robotics and Automation, 1999.
• A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems, Li Han and Nancy M. Amato, Proceedings of the Workshop on Algorithmic Foundations of Robotics (WAFR'00), March 2000. pdf

Chad Helm: (Nonholonomic motion planning), November 14

• Multi-Level Path Planning for Nonholonomic Robots Using Semi-Holonomic Subsystems. In Algorithms for Robotic Motion and Manipulation, J.P. Laumond and M. Overmars (eds.), A K Peters, Wellesley (MA), pages 79-96, 1997.
• Multi-level path planning for nonholonomic robots using semi-holonomic subsystems by S. Sekhavat, P. Svestka, J.-P. Laumond, M.H. Overmars. International Journal of Robotics Research, Vol.17, No. 8, pp.840-857, August 1998.
• Nonholonomic motion planning: Steering using sinusoids, Richard M. Murray and S. Sastry, IEEE Transactions on Automatic Control, volume 38, number 5, pages 700--716, 1993.

Tom McCarthy: (Multiple Robot Coordination), November 18

• Path Coordination for Multiple Mobile Robots: A Resolution-Complete Algorithm, Thierry Simeon and Stephane Leroy and Jean-Paul Laumond, IEEE Transactions on Robotics and Automation, volume 18, number 1, pages 42--49, feb 2002.

Tauseef Ansari: (Motion Planning in Dynamic Environments), November 18

• Motion Planning in Dynamic Environments using Velocity Obstacles, P. Fiorini and Z. Shiller, International Journal of Robotics Research, volume 17, number 7, pages 760--772, jul 1998.

Kartik Babu: (Real Time Motion Planning), November 21

• ``Decomposition-based motion planning: A framework for real-time motion planning in high-dimensional configuration spaces", O. Brock and L. Kavraki, In Proc. ICRA, volume 2, pages 1469-1474, 2001.
• "Real Time Motion Planning for Agile Autonomous Robots", Emilio Frazzoli, Munther Dahleh, Eric Feron. AIAA Journal on Guidance, Control and Dynamics 2002.
• Quasi-Random Algorithms for Real-Time Spacecraft Motion Planning and Coordination, E. Frazzoli, To appear in Acta Astronautica, 2003.

Arjun Arumbakkam: (Manipulation Planning), November 21

• A general manipulation planner. T Simeon, J Cortes, A Sahbani, JP Laumond. Workshop on Algorithmic Foundations of Robotics (WAFR 02), Nice, France, December 2002.
• A probabilistic algorithm for manipulation planning under continuous grasps and placements. A. Sahbani, J. Cortes, T Simeon. IEEE Int. Conf. on Int. Robots and Systems (2002).
• A Manipulation planner for Pick and Place operations under continuous grasps and placements. T Simeon, J. Cortes, A. Sahbani, J.-P. Laumond. IEEE Int. Conf. on Robotics and Automation (2002).

Evan Shechter: (Assembly Planning), November 25 (Tue)

• Disassembly Sequencing Using a Motion Planning Approach, Sujay Sundaram, Ian Remmler, and Nancy M. Amato, Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA'01), May 2001. pdf
• Geometric reasoning about mechanical assembly, R. H. Wilson and J.-C. Latombe, Artificial Intelligence, volume 71, number 2, pages 371-396, Dec 1994.

Advice on Giving a Research Talk

• How to give a good research talk: Simon L Peyton Jones, John Launchbury, John Hughes
• Giving a Talk (Bruce Donald)
• Notes on giving a research talk: Charles Elkan
• Oral Presentation Advice: Mark Hill