We are very grateful for the support provided by the Toyota Motor Corporation (Japan), the National Science Foundation, the Office of Naval Research, and DARPA. Most of our funding is applied to the equipment, travel, and salaries of graduate students.

Current Grants

• SToMP (Sensors, Topology, and Minimalist Planning), DARPA, ~ $8 million, 2006-2010 (a program with 11 PIs, which grew from the DARPA grant below with R. Ghrist).
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• Expanding the Frontiers of Motion Planning: Feedback, Differential Constraints, and Resolution Completeness, NSF, $350,000, 2006-2009 (PI: S. LaValle).
• Multi-Robot Pursuit Strategies, ONR, $338,000, 2002-2006 (PI: S. LaValle).
• Dynamic Domain RRTs, Toyota Future Projects Division (Japan), $98,000, 2005-2006 (PI: S. LaValle).
• Fundamental Geodesic Problems in Computational Topology, NSF, $573,962, 2005-2008, (PIs: J. Erickson, R. Ghrist, S. LaValle).
• Making 3D Visibility Practical, NSF, $500,000, 2002-2006, (PIs: S. LaValle, J. Erickson, J. Hart).
• Hybrid System Control and Verification, NSF, $273,000, 2002-2006, (PIs: S. LaValle, E. Frazzoli, M. Branicky).

• Topological and Geometric Tools for Systems and Sensors, DARPA, $200,516, 2005-2006, (PIs: R. Ghrist, S. LaValle).
• Algorithmic and Geometric Trajectory Design, NSF, $300,000, 2001-2004, (PIs: F. Bullo, S. LaValle).
• Solving Visibility-Based Robotics Tasks Using Minimal Representations, NSF-CONACyT, $100,000, 2001-2004, (PIs: S. LaValle, R. Murrieta).
• Motion Strategy Algorithms for Geometry-Intensive Applications, NSF CAREER, $400,000, 1999-2003, (PI: S. LaValle).
• Helping Humanoids by Solving Tasks that Combine Complex Motor Skills with Geometric Reasoning, Honda, $30,000, 1999-2000 (PI: S. LaValle).