Publications on Optimal Control Theory

Time-optimal paths for a Dubins airplane. H. Chitsaz and S. M. LaValle. In Proceedings IEEE Conference Decision and Control, 2007. [pdf].

Minimum wheel-rotation paths for differential-drive mobile robots. H. Chitsaz, S. M. LaValle, D. J. Balkcom, and M. T. Mason. International Journal of Robotics Research, 28(1):66--80, 2009. [pdf].

Minimum wheel-rotation paths for differential drive mobile robots among piecewise smooth obstacles. H. Chitsaz and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2007. [pdf].

Chapter 2: Discrete Planning, Planning Algorithms. S. M. LaValle. Cambridge University Press, Cambridge, U.K., 2006. [pdf] [Entire Book].

Chapter 10: Sequential Decision Theory, Planning Algorithms. S. M. LaValle. Cambridge University Press, Cambridge, U.K., 2006. [pdf] [Entire Book].

Chapter 15: System Theory and Analytical Techniques, Planning Algorithms. S. M. LaValle. Cambridge University Press, Cambridge, U.K., 2006. [pdf] [Entire Book].

An explicit characterizaton of minimum wheel-rotation paths for differential-drives. H. Chitsaz, S. M. LaValle, D. J. Balkcom, and M. T. Mason. In Proceedings 12th IEEE International Conference on Methods and Models in Automation and Robotics, 2006. [pdf].

Minimum wheel-rotation paths for differential-drive mobile robots. H. Chitsaz, S. M. LaValle, D. J. Balkcom, and M. T. Mason. In Proceedings IEEE International Conference on Robotics and Automation, 2006. [pdf].

From dynamic programming to RRTs: Algorithmic design of feasible trajectories. S. M. LaValle. In A. Bicchi, H. I. Christensen, and D. Prattichizzo, editors, Control Problems in Robotics, pages 19--37. Springer-Verlag, Berlin, 2002. [pdf].

Algorithms for computing numerical optimal feedback motion strategies. S. M. LaValle and P. Konkimalla. International Journal of Robotics Research, 20(9):729--752, September 2001. [pdf].

Robot motion planning: A game-theoretic foundation. S. M. LaValle. Algorithmica, 26(3):430--465, 2000. [pdf].

Efficient computation of optimal navigation functions for nonholonomic planning. P. Konkimalla and S. M. LaValle. In Proceedings First IEEE International Workshop on Robot Motion and Control, pages 187--192, 1999. [pdf].

Numerical computation of optimal navigation functions on a simplicial complex. S. M. LaValle. In P. K. Agarwal, L. E. Kavraki, and M. T. Mason, editors, Robotics: The Algorithmic Perspective, pages 339--350. A K Peters, Wellesley, MA, 1998. [pdf].

An objective-based framework for motion planning under sensing and control uncertainties. S. M. LaValle and S. A. Hutchinson. International Journal of Robotics Research, 17(1):19--42, January 1998. [pdf].

Optimal motion planning for multiple robots having independent goals. S. M. LaValle and S. A. Hutchinson. IEEE Trans. on Robotics and Automation, 14(6):912--925, December 1998. [pdf].

Motion strategies for maintaining visibility of a moving target. S. M. LaValle, H. H. Gonz\'alez-Ba\ nos, C. Becker, and J.-C. Latombe. In Proceedings IEEE International Conference on Robotics and Automation, pages 731--736, 1997. [pdf].

Optimizing robot motion strategies for assembly with stochastic models of the assembly process. R. Sharma, S. M. LaValle, and S. A. Hutchinson. IEEE Trans. on Robotics and Automation, 12(2):160--174, April 1996. [pdf].

Evaluating motion strategies under nondeterministic or probabilistic uncertainties in sensing and control. S. M. LaValle and S. A. Hutchinson. In Proceedings IEEE International Conference on Robotics and Automation, pages 3034--3039, April 1996. [pdf].

Optimal motion planning for multiple robots having independent goals. S. M. LaValle and S. A. Hutchinson. In Proceedings IEEE International Conference on Robotics and Automation, pages 2847--2852, April 1996. [pdf].

Optimizing robot motion strategies for assembly with stochastic models of the assembly process. R. Sharma, S. M. LaValle, and S. A. Hutchinson. In Proceedings IEEE Int'l Symp. on Assembly and Task Planning, pages 341--346, 1995. [pdf].

Motion planning in stochastic environments: Theory and modeling issues. S. M. LaValle and R. Sharma. In Proceedings IEEE International Conference on Robotics and Automation, pages 3057--3062, 1995. [pdf].

Motion planning in stochastic environments: Applications and computational issues. S. M. LaValle and R. Sharma. In Proceedings IEEE International Conference on Robotics and Automation, pages 3063--3068, 1995. [pdf].

An objective-based stochastic framework for manipulation planning. S. M. LaValle and S. A. Hutchinson. In Proceedings IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, pages 1772--1779, September 1994. [pdf].

Robot motion planning in a changing, partially predictable environment. S. M. LaValle and R. Sharma. In Proceedings IEEE International Symposium on Intelligent Control, pages 261--266, August 1994. [pdf].

Path selection and coordination of multiple robots via Nash equilibria. S. M. LaValle and S. A. Hutchinson. In Proceedings IEEE International Conference on Robotics and Automation, pages 1847--1852, May 1994. [pdf].