This material is based upon work supported by the National Science Foundation under Grant No. 0208919.

Any opinions, findings and conclusions or recomendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation (NSF).

Proposal

Nuggets:   pdf   |   ps

Papers:

• Stuart Morgan and Michael S. Branicky. Sampling-Based Planning for Discrete Spaces. Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, 2004.
  
• M.S. Branicky, M.M. Curtiss, J. Levine, and S. Morgan. RRTs for nonlinear, discrete, and hybrid planning and control. Proc. IEEE Conf. Decision and Control, Maui, December 9-12, 2003. Slide Presentation
• Michael S. Branicky, Michael M. Curtiss, Joshua Levine, and Stuart Morgan. Sampling-based planning and control. Proc. Twelfth Yale Workshop on Adaptive and Learning Systems, New Haven, CT, May 28-30, 2003.
• Steven M. LaValle, Michael S. Branicky, and Stephen R. Lindeman. On the relationship between classical grid search and probabilistic roadmaps. International Journal of Robotics Research. Submitted.
• Steven M. LaValle and Michael S. Branicky. On the relationship between classical grid search and probabilistic roadmaps. Workshop on the Algorithmic Foundation of Robotics (WAFR), Nice, FRANCE, December 15-17, 2002.
• S.R. Lindemann and S.M. LaValle. Incremental low-discrepancy lattice methods for motion planning. Proc. IEEE Intl. Conf. on Robotics and Automation, 2003. To appear.
• S.R. Lindemann and S.M. LaValle. Steps towards derandomizing RRTs. Proc. IEEE/RS Intl. Conf. on Intelligent Robots and Systems, 2003. Submitted.
• P. Cheng, E. Frazzoli, and S.M. LaValle. Exploiting group symmetries to improve precision in kinodynamic and nonholonomic planning. Proc. IEEE/RS Intl. Conf. on Intelligent Robots and Systems, 2003. Submitted.

Theses:

• Stuart Bruce Morgan Sampling-Based Planning for Discrete Spaces [PDF, 2.5Mb], M.S. Thesis, Dept. of Electrical Engineering and Computer Science, Case Western Reserve University, 08 April 2004.
    MS Defense Presentation
• Joshua Aaron Levine Sampling-Based Planning for Hybrid Systems [PDF, 2.2Mb], M.S. Thesis, Dept. of Electrical Engineering and Computer Science, Case Western Reserve University, September 2003.
    MS Defense Presentation
• Michael M. Curtiss, Motion Planning and Control Using RRTs [PDF, 2.1Mb], M.S. Project, Dept. of Electrical Engineering and Computer Science, Case Western Reserve University, May 2002.   Selected Slides/Movies from MS Defense Presentation

Related Papers / Preliminary Work:

• M.S. Branicky and M.M. Curtiss. Nonlinear and hybrid control via RRTs. Proc. Intl. Symp. on Mathematical Theory of Networks and Systems, South Bend, IN, August 2002.
• Michael S. Branicky, Steven M. LaValle, Kari Olson, and Libo Yang. Deterministic vs. probabilistic roadmaps. IEEE Trans. on Robotics and Automation, Jan. 2002. Submitted.
• M.S. Branicky, S.M. LaValle, K. Olson, and L. Yang. Quasi-randomized path planning. Proc. IEEE International Conf. Robotics and Automation, pp. 1481-1487, Seoul, KOREA, May 2001.

Links:

• Branicky's Publications
• Frazzoli's Publications
• LaValle's Publications