MSL Research

The Motion Strategy Laboratory studies problems such as trajectory planning, feedback motion strategy design, multiple robot coordination, pursuit-evasion, visibility, and robot navigation/localization with minimum sensing. For a more detailed description of these problems, visit Steve LaValle's web page, or those of any of the people in the lab. Some of our recent publications include:

• S. R. Lindemann and S. M. LaValle. Incremental low-discrepancy lattice methods for motion planning. In Proc. IEEE International Conference on Robotics and Automation, 2003.
• L. Yang and S. M. LaValle. The sampling-based neighborhood graph: A framework for planning and executing feedback motion strategies. Submitted to IEEE Transactions on Robotics and Automation, 2003.
• S. M. LaValle. From dynamic programming to RRTs: Algorithmic design of feasible trajectories. In A. Bicchi, H. I. Christensen, and D. Prattichizzo, editors, Control Problems in Robotics, pages 19--37. Springer-Verlag, Berlin, 2002.
• S. M. LaValle and M. S. Branicky. On the relationship between classical grid search and probabilistic roadmaps. In Proc. Workshop on the Algorithmic Foundations of Robotics, December 2002.
• A. Atramentov and S. M. LaValle. Efficient nearest neighbor searching for motion planning. In Proc. IEEE Int'l Conf. on Robotics and Automation, pages 632--637, 2002.
• P. Cheng and S. M. LaValle. Resolution complete rapidly-exploring random trees. In Proc. IEEE Int'l Conf. on Robotics and Automation, pages 267--272, 2002.
• L. Yang and S. M. LaValle. An improved random neighborhood graph approach. In Proc. IEEE Int'l Conf. on Robotics and Automation, pages 254--259, 2002.
• B. Tovar, S. M. LaValle, and R. Murrieta. Optimal navigation and object finding without geometric maps or localization. In Proc. IEEE International Conference on Robotics and Automation, 2003.
• B. Simov, G. Slutzki, and S. M. LaValle. Clearing a polygon with two 1-searchers. Submitted to International Journal of Computational Geometry and Applications, 2003.
• S. Sachs, S. Rajko, and S. M. LaValle. Visibility-based pursuit-evasion in an unknown planar environment. Submitted to International Journal of Robotics Research, 2003.
• B. Simov, S. M. LaValle, and G. Slutzki. A complete pursuit-evasion algorithm for two pursuers using beam detection. In Proc. IEEE Int'l Conf. on Robotics and Automation, pages 618--623, 2002.
• S. M. LaValle, B. Simov, and G. Slutzki. An algorithm for searching a polygonal region with a flashlight. International Journal of Computational Geometry and Applications, 12(1-2):87--113, 2002.