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Algorithms & Applications Group
Research Projects

Algorithmic Techniques

Motion Planning
Motion Planning Strategies & Frameworks:
Adaptive Neighbor Connection | Feature-Sensitive Motion Planning | Iterative Relaxation of Constraints | Medial Axis Planning | Metrics | Planning Under Uncertainty | Reachable Volumes | Single Shot Planning | Uniform Sampling Framework for PRMs | User-Guided Motion Planning | Region Steering
Learning-Based Methods:
Adaptive Neighbor Connection | Adaptive RRT | Feature-Sensitive Motion Planning | RESAMPL: Region Sensitive Adaptive Motion Planner | Single Shot Planning | Unsupervised Adaptive Strategy
Graph-Based Methods:
Customizable (and Adaptable) PRM | Improving Connectivity | Incremental Map Generation | Spark PRM | Toggle PRM
Tree-Based Methods:
Adaptive RRT | Medial Axis RRT | mRRG | Obstacle Based RRT | Reachable Volumes RRT
Sampling Techniques:
Biasing Samplers | MAPRM: Medial Axis PRM | OBPRM: Obstacle-Based PRM | Uniform OBPRM | Uniform MAPRM
Specialized for Specific Classes of Robots:
Constrained & Closed Chain Systems | Deformable Objects | Foldable Objects | Metamorphic Robots | Mobile Robot Navigation & Localization | Nonholonomic Car-like Robots
Parallel & Distributed Computing
Standard Template Adaptive Parallel Library:
Performance Monitoring, Modeling, and Prediction | Task Scheduling


Skeletonization

Seismic Ray Tracing

AA Group Reunion at IROS 2011

Summer 2012 Interns

Applications

Computational Biology, Chemistry & Neuroscience:
Protein Folding | Ligand Binding | RNA Folding | Neuron PRM | Decoy Databases
Group Behaviors:
Roadmap-based Techniques | Evacuation Planning | Pursuit-Evasion in Realistic Environments | Shepherding Behaviors | Multi-robot Caravanning | reciprocally-rotating velocity obstacles (rrvo) | Moving Objects
Virtual Prototyping:
Planning (Dis)Assembly Sequences | Validating CAD Designs with PRMs
Interfaces for Motion Planning:
Campus Navigator | User-Guided Motion Planning | Region Steering | Vizmo++ | Interactive Dynamic Simulation | Haptic Interaction in Motion Planning
Parallel Motion Planning:
Scalable Framework | Distributed RRT | Load Balancing | Parallelizing Protein Folding
Computational Geometry:
Approximate Convex Decomposition | Skeleton Extraction
Computational Science:
Analyzing Parallel Particle Transport Sweeps | Task Scheduling and Deterministic Particle Transport Mesh Sweeps | Seismic Ray Tracing

Resources

Benchmarks | Demos | Folding Server