Takeo Kanade, Richard Paul, Jean-claude Latombe
One important goal in robotics is to make it possible for robots to perfonn tasks whose goals are expressed in high-level declarative terms. In this context, researchers in motion planning develop...
Pankaj K. Agarwal, Herbert Edelsbrunner (pi, Homme W. Hellinga, Leonidas J. Guibas, ...
The function of all life forms depends on organization in space and time, and the effect of one part of a biological system on another is generally much greater when the two parts are in close...
Multi-Modal Motion Planning in Non-Expansive Spaces (2009)
Kris Hauser, Jean-claude Latombe
Abstract: The motion planning problems encountered in manipulation and legged locomotion have a distinctive multi-modal structure, where the space of feasible configurations consists of overlapping...
Multi-Modal Motion Planning in Non-Expansive Spaces (2009)
Kris Hauser, Jean-claude Latombe
Abstract: The motion planning problems encountered in manipulation and legged locomotion have a distinctive multi-modal structure, where the space of feasible configurations consists of overlapping...
Leonidas J. Guibas, Jean-claude Latombe, Steven M. Lavalle, David Lin, Rajeev Motwani
This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually \see " an evader that is unpredictable, has unknown initial position,...
Dan Halperin, Lydia E. Kavraki, Jean-claude Latombe, Rajeev Motwani, Christian Shelton, ...
Abstract. In recent years an effort has been made to supplement traditional methods for drug discovery by computer-assisted “structure-based design. ” The structure-based approach involves (among...
6.1.1 Typical Representations (2008)
Jean-claude Latombe, Scribe Goh, Hai Kiat, Maslennikov Mstislav, Conformational Space
A conformation of a molecule or a system in general is a complete specification of the spatial placement of the entire system. In the case of molecules it could be the relative positions of all atoms...
of Flexible Ligands \Lambda (2008)
Dan Halperin, Lydia Kavraki, Jean-claude Latombe, Rajeev Motwani, Christian Shelton, Suresh Venkatasubramanian
1 Introduction Most existing pharmaceutical drugs were found either by chance observation or by screening a large number of natural and synthetic substances [7]. In recent years there has been a...
Paul W. Finn, Dan Halperin, Lydia E. Kavraki, Jean-claude Latombe, Rajeev Motwani
2, Christian Shelton 2, Suresh Venkatasubramanian 2 1
Tim Roughgarden, Jean-claude Latombe, Gildardo Sánchez-ante
In this paper we consider a motion planning problem that occurs in tasks such as spot welding, car painting, inspection, and measurement, where the end-effector of a robotic arm must reach successive...
cfl World Scientific Publishing Company PATH PLANNING IN EXPANSIVE CONFIGURATION SPACES (2008)
David Hsu, Jean-claude Latombe, Rajeev Motwani
Received received date Revised revised date Communicated by Editor's name ABSTRACT We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose...
Lecturer Prof, Jean-claude Latombe, Scribe Cheng, Chi Kan, Lee Pern Chern, Moritz Buck
Many-to-many comparisons are evaluated when we align protein structures. In order to avoid repetition, a better organization of computation is necessary. This could be achieved by pre-computing the...
Representation and Algorithm for Analyzing Molecular Motion (2008)
Mehmet Serkan Apaydin, Douglas L. Brutlag, Carlos Guestrin, David Hsu, Jean-claude Latombe, Chris Varma
Classic molecular motion simulation techniques, such as Monte Carlo (MC) simulation, generate motion pathways one at a time and spend most of their time in the local minima of the energy landscape de...
Philip Fong, Florian Buron, Chris Sewell, Jean-claude Latombe, Ken Salisbury
Sensing in robotic manipulation
Tim Bretl, Sanjay Lall, Jean-claude Latombe, Stephen Rock
Abstract. This paper studies non-gaited, multi-step motion planning, to enable limbed robots to free-climb vertical rock. The application of a multi-step planner to a real free-climbing robot is...
Lecturer Prof, Jean-claude Latombe, Scribe Chen Ding, Huang Yang, Meghna Agrawal, Max Perutz, ...
"Could the search for ultimate truth really have revealed so hideous and visceral-looking an object?"
Tsung-han Chiang, Mehmet Serkan, Apaydin Douglas, L. Brutlag, David Hsu, Jean-claude Latombe
This paper presents a new method for studying protein folding kinetics. It uses the recently introduced Stochastic Roadmap Simulation (SRS) method to estimate the transition state ensemble (TSE) and...
David Hsu, Robert Kindel, Jean-claude Latombe, Stephen Rock, David Hsu, Robert Kindel, ...
This paper presents a novel randomized motion planner for robots that must achieve a specified goal under kinematic and/or dynamic motion constraints while avoiding collision with moving obstacles...
Itay Lotan, Fabian Schwarzer, Jean-claude Latombe, Dan Halperin
The kinematic chain is a ubiquitous and extensively studied representation in robotics as well as a useful model for studying the motion of biological macro-molecules. Both fields stand to benefit...
2000, ‘Kinodynamic Motion Planning Amidst Moving Obstacles (2008)
Robert Kindel, David Hsu, Jean-claude Latombe, Stephen Rock
This paper presents a randomized motion planner for kinodynamic asteroid avoidance problems, in which a robot must avoid collision with moving obstacles under kinematic, dynamic constraints and reach...
Jean-claude Latombe, Jean-claude Latombe
During the past three decades, motion planning has emerged as a crucial and productive research area in robotics. In the mid-1980s, the most advanced planners were barely able to compute...
David Hsu, Jean-claude Latombe, Hanna Kurniawati, David Hsu, Jean-claude Latombe, Hanna Kurniawati
Why is probabilistic roadmap (PRM) planning probabilistic? How does the probability measure used for sampling a robot’s configuration space affect the performance of a PRM planner? These questions...
Gildardo Sanchez, Jean-claude Latombe, Gildardo Sánchez, Cuernavaca México, Jean-claude Latombe
This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM) planner that is: single-query—instead of pre-computing a roadmap covering the entire free space, it uses the...
2000, ‘Kinodynamic Motion Planning Amidst Moving Obstacles (2008)
Robert Kindel, David Hsu, Jean-claude Latombe, Stephen Rock
This paper presents a randomized motion planner for kinodynamic asteroid avoidanceproblems, in which a robot must avoid collision with moving obstacles under kinematic, dynamic constraints and reach...
Mitul Saha, Tim Roughgarden, Jean-claude Latombe, Gildardo Sánchez-ante, Mitul Saha, Tim Roughgarden, ...
In this paper we consider a motion planning problem that occurs in tasks such as spot welding, car painting, inspection, and measurement, where the end-effector of a robotic arm must reach successive...
David Hsu, Jean-claude Latombe, Hanna Kurniawati
Why is probabilistic roadmap (PRM) planning probabilistic? How does the probability measure used for sampling a robot’s configuration space affect the performance of a PRM planner? These questions...
Jean-claude Latombe, Jean-claude Latombe
In this paper, we investigate safe and efficient map-building strategies for a mobile robot with imperfect control and sensing. In the implementation, a robot equipped with a range sensor builds a...
In Stereotaxic Radiosurgery, Achim Schweikard, John R. Adler, Jean-claude Latombe
Stereotaxic radiosurgery is a procedure which uses a beam of radiation as an ablative surgical instrument to destroy brain tumors. The beam is produced by a linear accelerator which ismoved by a...
Efficient Algorithms to Explore Conformation Spaces of Flexible Protein Loops (2008)
Ankur Dhanik, Peggy Yao, Nathan Marz, Charles Kou, Guanfeng Liu, ...
Abstract. Two efficient and complementary sampling algorithms are presented to explore the space of closed clash-free conformations of a flexible protein loop. The “seed sampling ” algorithm...
Xiaoshan Pan, Charles S. Han, Kincho H. Law, Jean-claude Latombe
Recent natural and man-made disastrous events underscore the importance of emergency evacuation planning and management for buildings and facilities (Averill et al., 2005). Although building codes...
Representation and Algorithm for Analyzing Molecular Motion (2008)
Mehmet Serkan Apaydin, Douglas L. Brutlag, Carlos Guestrin, David Hsu, Jean-claude Latombe, Chris Varma
Classic molecular motion simulation techniques, such as Monte Carlo (MC) simulation, generate motion pathways one at a time and spend most of their time in the local minima of the energy landscape de...
Abstract An Intelligent Observer (2008)
Craig Becker, Jean-claude Latombe, Carlo Tomasi
This paper describes an integrated mobile robotic system dubbed the intelligent observer (IO). The IO is a mobile robot which moves through an environment (such as an o ce building or a factory)...
David Hsu, Jean-claude Latombe, Hanna Kurniawati
Why is probabilistic roadmap (PRM) planning probabilistic? How does the probability measure used for sampling a robot’s configuration space affect the performance of a PRM planner? These questions...
David Hsu, Jean-claude Latombe, Hanna Kurniawati
Why is probabilistic roadmap (PRM) planning probabilistic? How does the probability measure used for sampling a robot’s configuration space affect the performance of a PRM planner? These questions...
with General Kinematics (2007)
Achim Schweikard, Rhea Tombropoulos, Lydia Kavraki, John R. Adler, Jean-claude Latombe
Abstract: In radiosurgery a beam of radiation is used as an ablative surgical instrument to destroy brain tumors. Treatment planning consists of computing a sequence of beam configurations for...
Lydia Kavraki, Jean-claude Latombe, Tsai-yen Li, Rajeev Motwani, Prabhakar Raghavan
Several randomized path planners have been proposed over the last few years. Their attractiveness stems from their applicability to virtually any type of robots, and their empirically observed...
Lydia Kavraki, Jean-claude Latombe, Tsai-yen Li, Rajeev Motwani, Prabhakar Raghavan
Several randomized path planners have been proposed over the last few years. Their attractiveness stems from their applicability to virtually any type of robots, and their empirically observed...
1 Section on Medical Informatics (2007)
Amit P. Singh, Jean-claude Latombe, Douglas L. Brutlag
Most computational models of protein-ligand interactions consider only the energetics of the final bound state of the complex and do not examine the dynamics of the ligand as it enters the binding...
Planning Robot Motions for Range-Image Acquisition and Automatic 3D Model Construction (2007)
Hector Gonzalez-Banos, Jean-claude Latombe
In this paper we explore the application of motion planning techniques in the acquisition of rangeimages using a mobile robot equipped with range sensors. These techniques were developed to further...
The Autonomous Observer: A Tool for Remote Experimentation in Robotics (2007)
Héctor González-Baños, José-Luis Gordillo, David Lin, Jean-claude Latombe, Alejandro Sarmiento, Carlo Tomasi
This paper describes a robotics technology { the Autonomous Observer (AO) { developed to facilitate experimentation over the Internet. The AO is a mobile robot equipped with visual sensors. It...
Effect of Tolerancing on the Relative Positions of Parts in an Assembly (2007)
Frédéric Cazals, Jean-claude Latombe
This paper analyzes the variations of the relative positions of the parts composing an assembly when part dimensions span their specified tolerance zones. We focus on the case where each part is...
And Rajeev Motwani, David Hsu, Lydia E. Kavraki, Jean-claude Latombe, Rajeev Motwani
: Applications such as robot programming, design for manufacturing, animation of digital actors, rationale drug design, and surgical planning, require computing paths in high-dimensional geometric...
Journal Of Computer, Lydia E. Kavraki, Jean-claude Latombe, Rajeev Motwani, Prabhakar Raghavan
The subject of this paper is the analysis of a randomized preprocessing scheme that has been used for query processing in robot path planning. The attractiveness of the scheme stems from its general...
Dan Halperin, Lydia Kavraki, Jean-claude Latombe
INTRODUCTION Robotics is concerned with the generation of computer-controlled motions of physical objects in a wide variety of settings. Because physical objects define spatial distributions in...
Analysis of Probabilist (2007)
Ic Roadmaps, Lydia E. Kavraki, Mihail N. Kolountzakis, Jean-claude Latombe
We provide an analysis of a recent path planning method which uses probabilistic roadmaps. This method has proven very successful in practice, but the theoretical understanding of its performance is...
Dan Halperin, Lydia Kavraki, Jean-claude Latombe
INTRODUCTION Robotics is concerned with the generation of computer-controlled motions of physical objects in a wide variety of settings. Because physical objects define spatial distributions in...
Dan Halperin, Lydia Kavraki, Jean-claude Latombe
INTRODUCTION Robotics is concerned with the generation of computer-controlled motions of physical objects in a wide variety of settings. Because physical objects define spatial distributions in...
Mehmet Serkan, Apaydn Douglas, L. Brutlag, Carlos Guestrin, David Hsu, Jean-claude Latombe, ...
Classic molecular motion simulation techniques, such as Monte Carlo (MC) simulation, generate motion pathways one at a time and spend most of their time in the local minima of the energy landscape...
Charles S. Han, Kincho H. Law, Jean-claude Latombe, John C. Kunz
A performance-based approach to wheelchair accessible route analysis
A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking (2007)
Gildardo Sinchez, Jean-claude Latombe
Abstract. This paper describes a nev probabilistic roadmap (PRM) path planner that is: (1) single-query instead of pre-computing a roadmap covering the entire free space, it uses the tvo input query...
Real-Time Tracking of an Unpredictable Target Amidst Unknown Obstacles (2007)
Cheng-yu Lee, Jean-claude Latombe
This paper describes a new approach to keep a moving target into the field of view of a robot, despite obstacles. Unlike previous work, this approach does not assume that a complete or partial model...
Mehmet Serkan Apaydın, David Hsu, Douglas L. Brutlag, Jean-claude Latombe, Carlos Guestrin, Chris Varma
Classic molecular motion simulation techniques, such as Monte Carlo (MC) simulation, generate motion pathways one at a time and spend most of their time in the local minima of the energy land-scape...
E#cient Maintenance and Self-Collision Testing for Kinematic Chains (2007)
Itay Lotan, Fabian Schwarzer, Dan Halperin, Jean-claude Latombe
The kinematic chain is a ubiquitous and extensively studied representation in robotics as well as a useful model for studying the motion of biological macro-molecules. Both fields stand to benefit...
Steven M. Lavalle, Paul W. Finn, Lydia E. Kavraki, Jean-claude Latombe
Computational tools have greatly expedited the pharmaceutical drug design process in recent years. One common task in this process is the search of a large library for small molecules that can...
Mehmet Serkan Apaydin, Amit P. Singh, Douglas L. Brutlag, Jean-claude Latombe
Abstract: Probabilistic roadmaps are an effective tool to compute the connectivity of the collision-free subset of high-dimensional robot configuration space. This paper extends them to capture the...
Leonidas J. Guibas, Dan Halperin, Hirohisa Hirukawa, Jean-claude Latombe, Randall H. Wilson
We study the following problem: given a collection of polyhedral parts in 3D, determine whether there is a subset of the parts that can be moved as a rigid body by an infinitesimal translation and...
David Hsu, Robert Kindel, Jean-claude Latombe, Stephen Rock
We present a randomized motion planner for robots that must avoid moving obstacles and achieve a specified goal under kinematic and dynamic constraints. The planner samples the robot's statetime...
Motion planning for legged robots on varied terrain (2007)
Kris Hauser, Timothy Bretl, Jean-claude Latombe, Kensuke Harada, Brian Wilcox
This paper studies the quasi-static motion of large legged robots that have many degrees of freedom. While gaited walking may suffice on easy ground, rough and steep terrain requires unique sequences...
Multi-level free-space dilation for sampling narrow passages in PRM planning (2006)
David Hsu, Gildardo Sánchez-ante, Ho-lun Cheng, Jean-claude Latombe
Abstract — Free-space dilation is an effective approach for narrow passage sampling, a well-recognized difficulty in probabilistic roadmap (PRM) planning. Key to this approach are methods for...
Tsung-han Chiang, Mehmet Serkan Apaydin, Douglas L. Brutlag, David Hsu, Jean-claude Latombe
Abstract. This paper presents a new method for studying protein folding kinetics. It uses the recently introduced Stochastic Roadmap Simulation (SRS) method to estimate the transition state ensemble...
Motion planning for a sixlegged lunar robot (2006)
Kris Hauser, Timothy Bretl, Jean-claude Latombe, Brian Wilcox
Abstract: This paper studies the motion of a large and highly mobile six-legged lunar vehicle called athlete, developed by the Jet Propulsion Laboratory. This vehicle rolls on wheels when possible,...
Multi-level free-space dilation for sampling narrow passages in PRM planning (2006)
David Hsu, Ho-lun Cheng, Jean-claude Latombe
Abstract — Free-space dilation is an effective approach for narrow passage sampling, a well-recognized difficulty in probabilistic roadmap (PRM) planning. Key to this approach are methods for...
Using motion primitives in probabilistic sample-based planning for humanoid robots (2006)
Kris Hauser, Tim Bretl, Kensuke Harada, Jean-claude Latombe
Abstract: This paper presents a method of computing efficient and natural-looking motions for humanoid robots walking on varied terrain. It uses a small set of highquality motion primitives (such as...
Using motion primitives in probabilistic sample-based planning for humanoid robots (2006)
Kris Hauser, Tim Bretl, Kensuke Harada, Jean-claude Latombe
Summary. This paper presents a method of computing efficient and naturallooking motions for humanoid robots walking on varied terrain. It uses a small set of high-quality motion primitives (such as a...
Motion planning for a sixlegged lunar robot (2006)
Kris Hauser, Timothy Bretl, Jean-claude Latombe, Brian Wilcox
Abstract: This paper studies the motion of a large and highly mobile six-legged lunar vehicle called athlete, developed by the Jet Propulsion Laboratory. This vehicle rolls on wheels when possible,...
Tsung-han Chiang, Mehmet Serkan Apaydin, Douglas L. Brutlag, David Hsu, Jean-claude Latombe
Abstract. This paper presents a new method for studying protein folding kinetics. It uses the recently introduced Stochastic Roadmap Simulation (SRS) method to estimate the transition state ensemble...
On the probabilistic foundations of probabilistic roadmap planning (2005)
David Hsu, Jean-claude Latombe, Hanna Kurniawati
Probabilistic roadmap (PRM) planners [5, 16] solve apparently difficult motion planning problems where the robot’s configuration space C has dimensionality six or more, and the geometry of the...
Finding narrow passages with probabilistic roadmaps: The small step retraction method (2005)
Mitul Saha, Jean-claude Latombe, Yu-chi Chang, Friedrich Prinz
Abstract: Probabilistic Roadmaps (PRM) have been successfully used to plan complex robot motions in configuration spaces of small and large dimensionalities. However, their efficiency decreases...
Fabian Schwarzer, Mitul Saha, Jean-claude Latombe
Abstract — Static collision checking amounts to testing a given configuration of objects for overlaps. In contrast, the goal of dynamic checking is to determine whether all configurations along a...
Finding narrow passages with probabilistic roadmaps: The small step retraction method (2005)
Mitul Saha, Jean-claude Latombe, Yu-chi Chang, Friedrich Prinz
Abstract: Probabilistic Roadmaps (PRM) have been successfully used to plan complex robot motions in configuration spaces of small and large dimensionalities. However, their efficiency decreases...
Multi-step motion planning: Application to free-climbing robots (2005)
Timothy Wolfe Bretl, Jean-claude Latombe
in my opinion, it is fully adequate
Non-Gaited Humanoid Locomotion Planning (2005)
Kris Hauser Tim, Tim Bretl, Jean-claude Latombe
This paper presents a non-gaited motion planner for humanoid robots navigating very uneven and sloped terrain. The planner allows contact with any pre-designated part of the robot's body, since...
Learning-Assisted Multi-Step Planning (2005)
Kris Hauser Tim, Tim Bretl, Jean-claude Latombe
Probabilistic sampling-based motion planners are unable to detect when no feasible path exists. A common heuristic is to declare a query infeasible if a path is not found in a fixed amount of time....
On the Probabilistic Foundations of (2005)
Probabilistic Roadmap Planning, David Hsu, Jean-claude Latombe, Hanna Kurniawati
Why are probabilistic roadmap (PRM) planners "probabilistic"? This paper tries to establish the probabilistic foundations of PRM planning and re-examines previous work in this context. It...
Non-gaited humanoid locomotion planning (2005)
Kris Hauser, Tim Bretl, Jean-claude Latombe
Abstract — This paper presents a non-gaited motion planner for humanoid robots navigating very uneven and sloped terrain. The planner allows contact with any pre-designated part of the robot’s...
On the probabilistic foundations of probabilistic roadmap planning (2005)
David Hsu, Jean-claude Latombe, Hanna Kurniawati
Summary. Why are probabilistic roadmap (PRM) planners “probabilistic”? This paper tries to establish the probabilistic foundations of PRM planning and reexamines previous work in this context. It...
Non-gaited humanoid locomotion planning (2005)
Kris Hauser, Tim Bretl, Jean-claude Latombe
Abstract — This paper presents a non-gaited motion planner for humanoid robots navigating very uneven and sloped terrain. The planner allows contact with any pre-designated part of the robot’s...
Lecturer Prof, Jean-claude Latombe, Scribe Chia, Hoo Hon, Pramila Nuwantha Ariyaratne, Wang Lu
Molecular motion occurs in all biochemical processes. The study of molecular motion during the process of proteins binding may facilitate the study of diseases such as mad cow disease, which is...
Itay Lotan, Fabian Schwarzer, Dan Halperin, Jean-claude Latombe
Monte Carlo simulation (MCS) is a common methodology to compute pathways and thermodynamic properties of proteins. A simulation run is a series of random steps in conformation space, each perturbing...
Multi-step motion planning for free-climbing robots (2004)
Tim Bretl, Sanjay Lall, Jean-claude Latombe, Stephen Rock
Abstract. This paper studies non-gaited, multi-step motion planning, to enable limbed robots to free-climb vertical rock. The application of a multi-step planner to a real free-climbing robot is...
Computing Protein Structures from Electron Density Maps: The Missing Loop Problem (2004)
Itay Lotan, Ashley M. Deacon, Jean-claude Latombe
Abstract. Rapid protein structure determination relies greatly on the availability of software that can automatically generate a protein model from an experimental electron density map. Tremendous...
Algorithm and Data Structures for Ecient Energy Maintenance during (2004)
Monte Carlo Simulation, Itay Lotan, Fabian Schwarzer, Dan Halperin, Jean-claude Latombe
Monte Carlo simulation (MCS) is a common methodology to compute pathways and thermodynamic properties of proteins. A simulation run is a series of random steps in conformation space, each perturbing...
Freeclimbing with a multi-use robot (2004)
Tim Bretl, Stephen Rock, Jean-claude Latombe, Brett Kennedy, Hrand Aghazarian
Abstract. This paper presents a new four-limbed robot, LEMUR IIb (Legged Excursion Mechanical Utility Rover), that can free-climb vertical rock surfaces. This robot was designed to have a number of...
ALGORITHMS EXPLOITING THE CHAIN STRUCTURE OF PROTEINS (2004)
Jean-claude Latombe, Leonidas J. Guibas
ii I certify that I have read this dissertation and that, in my opinion, it is fully adequate in scope and quality as a disser-tation for the degree of Doctor of Philosophy.
Motion Planning for Multiple Mobile Robots Using Dynamic Networks (2003)
Clark, Christopher M., Rock, Stephen M., Latombe, Jean-Claude
A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. To...
Dynamic Networks for Motion Planning in Multi-Robot Space Systems (2003)
Clark, Christopher M., Rock, Stephen M., Latombe, Jean-Claude
A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. The...
Efficient Energy Computation for Monte Carlo Simulation (2003)
Itay Lotan, Fabian Schwarzer, Jean-claude Latombe
Abstract. Monte Carlo simulation (MCS) is a common methodology to compute pathways and thermodynamic properties of proteins. A simulation run is a series of random steps in conformation space, each...
Planning multigoal tours for robot arms (2003)
Mitul Saha, Jean-claude Latombe
This paper considers the multi-goal motion planning problem. A robot arm must reach several input goal congurations in some sequence, but this sequence is not given. Instead, the robot's planner...
Climbing robots in natural terrain (2003)
Timothy Bretl, Teresa Miller, Stephen Rock, Jean-claude Latombe
natural terrain. This paper presents a general framework for planning the quasi-static motion of climbing robots. The framework is instantiated to compute climbing motions of a three-limbed robot in...
Toward autonomous free-climbing robots (2003)
Tim Bretl, Jean-claude Latombe, Stephen Rock
Abstract. The goal of this research is to enable a multi-limbed robot to climb vertical rock using techniques similar to those developed by human climbers. The robot consists of a small number of...
Motion planning for a three-limbed climbing robot in vertical natural terrain (2003)
Timothy Bretl, Stephen Rock, Jean-claude Latombe
This paper presents a general framework for planning the quasi-static motion of a three-limbed climbing robot in vertical natural terrain. The problem is to generate a sequence of continuous one-step...
Efficient Energy Computation for Monte Carlo Simulation (2003)
Itay Lotan, Fabian Schwarzer, Jean-claude Latombe
Abstract. Monte Carlo simulation (MCS) is a common methodology to compute pathways and thermodynamic properties of proteins. A simulation run is a series of random steps in conformation space, each...
On delaying collision checking in PRM planning: Application to multi-robot coordination (2002)
Gildardo Sánchez, Jean-claude Latombe
Abstract: This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM) planner that is: single-query – instead of pre-computing a roadmap covering the entire free space,...
Using robotics to fold proteins and dock ligands (2002)
Douglas Brutlag, Serkan Apaydin, Carlos Guestrin, David Hsu, Chris Varma, Amit Singh, ...
The problems of protein folding and ligand docking have been explored largely using molecular dynamics or Monte Carlo methods. These methods are very compute intensive because they often explore a...
On Delaying Collision Checking in PRM Planning – Application to Multi-Robot Coordination (2002)
Gildardo Sánchez, Jean-Claude Latombe
This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM) planner that is: single-query—instead of pre-computing a roadmap covering the entire free space, it uses the...
Using a prm planner to compare centralized and decoupled planning for multi-robot systems (2002)
Gildardo Sanchez, Cuernavaca Mxico, Jean-claude Latombe
This paper describes experiments with a Probabilistic Roadmap Planner on a spot-welding station with 2 to 6 robot manipulators combining 12 to 36 degrees of freedom. When performing centralized...
The forcegrid: a buffer structure for haptic interaction with virtual elastic objects (2002)
Frédéric Mazzella, Kevin Montgomery, Jean-claude Latombe
Abstract Real-time surgical simulation often requires computing the deformations of visco-elastic human-body tissue and generating both graphic and haptic renderings. As human users are more...
Real-Time Combinatorial Tracking of a Target Moving Unpredictably Among Obstacles (2002)
Cheng-yu Lee, Jean-claude Latombe
Abstract—Many applications require continuous monitoring of a moving target by a controllable vision system. Although the goal of tracking objects is not new, traditional techniques usually ignore...
Using a PRM Planner to Compare Centralized and Decoupled Planning for Multi-Robot Systems (2002)
This paper describes experiments with a Probabilistic Roadmap Planner called SBL (for Single-query, Bidirectional, Lazy collision checking) on a spot-welding station with 2 to 6 robot manipulators...
Real-time Combinatorial Tracking of a Target (2002)
Moving Unpredictably Among, Cheng-yu Lee, Jean-claude Latombe
Many applications require continuous monitoring of a moving target by a controllable vision system. Although the goal of tracking objects is not new, traditional techniques usually ignore the...
Pages S1–S1 Using robotics to fold proteins and dock ligands (2002)
Douglas Brutlag, Serkan Apaydin, Carlos Guestrin, David Hsu, Chris Varma, Amit Singh, ...
The problems of protein folding and ligand docking have been explored largely using molecular dynamics or Monte Carlo methods. These methods are very compute intensive because they often explore a...
On delaying collision checking in PRM planning: Application to multi-robot coordination (2002)
Gildardo Sánchez, Jean-claude Latombe
Abstract: This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM) planner that is: single-query – instead of pre-computing a roadmap covering the entire free space,...
Stochastic roadmap simulation for the study of ligand-protein interactions (2002)
Apaydin, Mehmet Serkan, Guestrin, Carlos E., Varma, Chris, Brutlag, Douglas L., Latombe, Jean-Claude
Understanding the dynamics of ligand-protein interactions is indispensable in the design of novel therapeutic agents. In this paper, we establish the use of Stochastic Roadmap Simulation (SRS) for...
Using robotics to fold proteins and dock ligands (2002)
Brutlag, Douglas, Apaydin, Serkan, Guestrin, Carlos, Hsu, David, Varma, Chris, Singh, Amit, ...
The problems of protein folding and ligand docking have been explored largely using molecular dynamics or Monte Carlo methods. These methods are very compute intensive because they often explore a...
A microsurgery simulation system (2001)
Joel Brown, Kevin Montgomery, Jean-claude Latombe, Michael Stephanides
Abstract. Computer systems for surgical planning and training are poised to greatly impact the traditional versions of these tasks. These systems provide an opportunity to learn surgical techniques...
A single-query bi-directional probabilistic roadmap planner with lazy collision checking (2001)
Gildardo Sánchez, Jean-claude Latombe
This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM) planner that is: (1) singlequery –i.e., it does not pre-compute a roadmap, but uses the two input query...
Capturing molecular energy landscapes with probabilistic conformational roadmaps (2001)
Mehmet Serkan Apaydin, Amit P. Singh, Douglas L. Brutlag, Jean-claude Latombe
Abstract: Probabilistic roadmaps are an effective tool to compute the connectivity of the collision-free subset of high-dimensional robot configuration space. This paper extends them to capture the...
Robot navigation for automatic model construction using safe regions (2000)
Héctor González-baños, Jean-claude Latombe
Abstract: Automatic model construction is a core problem in mobile robotics. To solve this task efficiently, we need a motion strategy to guide a robot equipped with a range sensor through a sequence...
Randomized Kinodynamic Motion Planning with Moving Obstacles (2000)
David Hsu, Robert Kindel, Jean-Claude Latombe, Stephen Rock
This paper shows that the probability that the planner fails to find a trajectory when one exists quickly goes to 0 as the number of milestones grows. The planner has been tested successfully in both...
Kinodynamic Motion Planning Amidst Moving Obstacles (2000)
Robert Kindel, David Hsu, Jean-claude Latombe, Stephen Rock
This paper presents a randomized motion planner for kinodynamic asteroid avoidanceproblems, in which a robot must avoid collision with moving obstacles under kinematic, dynamic constraints and reach...
Steven M. Lavalle, Paul W. Finn, Lydia E. Kavraki, Jean-Claude Latombe
: Computational tools have greatly expedited the pharmaceutical drug design process in recent years. One common task in this process is the search of a large library for small molecules that can...
Interactive Manipulation Planning for Animated Characters (2000)
James Kuffner, Jean-Claude Latombe
We present a brief overview of an algorithm for interactively animating object grasping and manipulation tasks for human figures. The technique is designed to efficiently generate feasible single-arm...
Paul W. Finn, Lydia E. Kavraki, Jean-claude Latombe, Steven M. Lavalle, Steven M. Lavalle
Computational tools have greatly expedited the pharmaceutical drug design process in recent years. One common task in this process is the search of a large library for small molecules that can...
Kinodynamic Motion Planning Amidst Moving Obstacles (2000)
Robert Kindel, David Hsu, Jean-claude Latombe, Stephen Rock
This paper presents a randomized motion planner for kinodynamic asteroid avoidanceproblems, in which a robot must avoid collision with moving obstacles under kinematic and dynamic constraints....
Kinodynamic Motion Planning Amidst Moving Obstacles (2000)
Robert Kindel David, David Hsu, Jean-claude Latombe, Stephen Rock
This paper presents a randomized motion planner for kinodynamic asteroid avoidanceproblems, in which a robot must avoid collision with moving obstacles under kinematic and dynamic constraints....
Motion planning: A journey of robots, molecules, digital actors, and other artifacts (1999)
During the last three decades motion planning has emerged as a crucial and productive research area in robotics. In the mid-80's the most advanced planners were barely able to compute...
Motion planning: A journey of robots, molecules, digital actors, and other artifacts (1999)
During the last three decades motion planning has emerged as a crucial and productive research area in robotics. In the mid-80's the most advanced planners were barely able to compute...
GEOMETRIC SHAPE MATCHING AND DRUG DESIGN (1999)
Jean-claude Latombe, Leonidas Guibas
as a dissertation for the degree of Doctor of Philosophy.
Motion planning: A journey of robots, molecules, digital actors, and other artifacts (1999)
During the last three decades motion planning has emerged as a crucial and productive research area in robotics. In the mid-80's the most advanced planners were barely able to compute...
Steven M. Lavalle, Paul W. Finn, Lydia E. Kavraki, Jean-claude Latombe
Computational tools have greatly expedited the pharmaceutical drug design process in recent years. One common task in this process is the search of a large library for small molecules that can...
A Visibility-Based Pursuit-Evasion Problem (1999)
Leonidas J. Guibas, Jean-claude Latombe, Steven M. Lavalle, David Lin, Rajeev Motwani
This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually "see " an evader that is unpredictable, has unknown initial...
David Hsu, Lydia E. Kavraki, Jean-claude Latombe, Rajeev Motwani
Abstract. Finding paths in high-dimensional gemetric spaces is a provably hard problem. Recently, a general randomized planning scheme has emerged as an e ective approach to solve this problem. In...
Placing a Robot Manipulator Amid Obstacles for Optimized Execution (1999)
David Hsu, Jean-claude Latombe, Stephen Sorkin
This paper presents an efficient algorithm for optimizing the base location of a robot manipulator in an environment cluttered with obstacles, in order to execute specified tasks as fast as possible....
Fast Synthetic Vision, Memory, and Learning Models for Virtual Humans (1999)
James J. Kuffner, Jean-claude Latombe
This paper presents a simple and efficient method of modeling synthetic vision, memory, and learning for autonomous animated characters in real-time virtual environments. The model is efficient in...
Motion Planning: A Journey of Robots, Molecules, Digital Actors, and Other Artifacts (1999)
During the last three decades motion planning has emerged as a crucial and productive research area in robotics. In the mid-80's the most advanced planners were barely able to compute...
Steven M. LaValle, Paul W. Finn, Lydia E. Kavraki, Jean-Claude Latombe
Computational tools have greatly expedited the pharmaceutical drug design process in recent years. One common task in this process is the search of a large library for small molecules that can...
Perception-Based Navigation for Animated Characters in Real-Time Virtual Environments (1999)
James J. Kuffner, Jean-claude Latombe
. Advances in computing hardware, software, and network technology have enabled a new class of interactive applications involving 3D animated characters to become increasingly feasible. Many such...
Placing a Robot Manipulator Amid Obstacles for Optimized Execution (1999)
David Hsu, Jean-claude Latombe, Stephen Sorkin
This paper presents an efficient algorithm for optimizing the base location of a manipulator in an environment cluttered with obstacles, in order to execute specified tasked as fast as possible. The...
Modeling Human-Body Soft Tissues for Surgical Applications (1999)
irtual characters. Previous research on soft-tissue modeling provides foundations on which the proposed research is based. In particular, as several researchers have suggested before, tissue...
Rhea Z. Tombropoulos, John R. Adler, Jean-claude Latombe
general kinematics
Dan Halperin, Lydia Kavraki, Jean-Claude Latombe
Introduction Robots are versatile mechanical devices equipped with actuators and sensors under the control of a computing system. They perform tasks by executing motions in the physical space. This...
Probabilistic Roadmaps for Robot Path Planning (1998)
Lydia E. Kavraki, Jean-claude Latombe
The Probabilistic RoadMap planner (PRM) has been applied with success to multiple planning problems involving robots with 3 to 16 degrees of freedom (dof) operating in known static environments. This...
A General Framework for Assembly Planning: The Motion Space Approach (1998)
Dan Halperin, Jean-claude Latombe, Randall H. Wilson
Assembly planning is the problem of finding a sequence of motions to assemble a product from its parts. We present a general framework for finding assembly motions based on the concept of motion...
A General Framework for Assembly Planning: The Motion Space Approach (1998)
Dan Halperin, Jean-claude Latombe, Randall H. Wilson
Assembly planning is the problem of finding a sequence of motions to assemble a product from its parts. We present a general framework for finding assembly motions based on the concept of motion...
On Finding Narrow Passages with Probabilistic Roadmap Planners (1998)
David Hsu, Lydia Kavraki, Jean-Claude Latombe, Rajeev Motwani, Stephen Sorkin
This paper provides foundations for understanding the effect of passages on the connectedness of probabilistic roadmaps. It also proposes a new random sampling scheme for finding such passages. An...
A General Framework for Assembly Planning: The Motion Space Approach (1998)
Dan Halperin, Jean-claude Latombe, Randall H. Wilson
Assembly planning is the problem of finding a sequence of motions to assemble a product from its parts. We present a general framework for finding assembly motions based on the concept of motion...
David Hsu, Lydia E. Kavraki, Jean-claude Latombe, Rajeev Motwani
: Applications such as robot programming, design for manufacturing, animation of digital actors, rationale drug design, and surgical planning, require computing paths in high-dimensional geometric...
CARABEAMER: A Treatment Planner for a Robotic Radiosurgical System with General Kinematics (1998)
Rhea Z. Tombropoulos, John R. Adler, Jean-claude Latombe
: Stereotactic radiosurgery is a minimally invasive procedure that uses a focused beam of radiation as an ablative instrument to destroy brain tumors. To deposit a high dose of radiation in a tumor,...
Michael Goldwasser, Rajeev Motwani, Leonidas Guibas, Jean-claude Latombe
ii I certify that Ihave read this dissertation and that inmy opinion it is fully adequate, in scope and in quality, as a dis-sertation for the degree of Doctor of Philosophy.
Nonholonomic path planning for pushing a disk among obstacles (1997)
Pankaj K. Agarwal, Jean-claude Latombe, Rajeev Motwani, Prabhakar Raghavan
We consider the path-planning problem for a robot pushing an object in an environment containing ob-stacles. This new variant of the classical robot path-planning problem has several interesting...
Dan Halperin, Lydia Kavraki, Jean-claude Latombe
Robotics is concerned with the generation of computer-controlled motions of physical objects in a wide variety of settings. Because physical objects define spatial distributions in 3-space, geometric...
On-line manipulation planning for two robot arms in a dynamic environment (1997)
Tsai-yen Li, Jean-claude Latombe
In a constantly changing and partially unpredictable environment, robot motion planning must be on-line. The planner receives a continuous ow of information about occurring events and generates new...
Motion Strategies for Maintaining Visibility of a Moving Target (1997)
Steven Lavalle, Craig Becker, Jean-claude Latombe
We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning)...
On-line manipulation planning for two robot arms in a dynamic environment (1997)
Tsai-yen Li, Jean-claude Latombe
In a constantly changing and partially unpredictable environment, robot motion planning must be on-line. The planner receives a continuous flow of information about occurring events and generates new...
On-line manipulation planning for two robot arms in a dynamic environment (1997)
Tsai-yen Li, Jean-claude Latombe
In a dynamic and partially unpredictable environment, robot motion planning must be on-line. The planner receives a continuous flow of information about occurring events and generates new plans,...
Path Planning in Expansive Configuration Spaces (1997)
David Hsu, Jean-claude Latombe, Rajeev Motwani
We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomly-sampled milestones. The...
Path Planning in Expansive Configuration Spaces (1997)
David Hsu, Jean-claude Latombe, Rajeev Motwani
We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomlysampled milestones. The analysis...
Probabilistic roadmaps for path planning in high-dimensional configuration spaces (1997)
Lydia E. Kavraki, Petr Svestka, Jean-Claude Latombe, Mark H. Overmars
A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is...
Path Planning in Expansive Configuration Spaces (1997)
David Hsu, Jean-claude Latombe, Rajeev Motwani
We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomly-sampled milestones. The...
Finding an Unpredictable Target in a Workspace with Obstacles (1997)
Steven M. Lavalle, David Lin, Leonidas J. Guibas, Jean-claude Latombe, Rajeev Motwani
This paper introduces a visibility-based motion planning problem in which the task is to coordinate the motions of one or more robots that have omnidirectional vision sensors, to eventually...
Effect of Tolerancing on the Relative Positions of Parts in an Assembly (1997)
Frédéric Cazals, Jean-claude Latombe
This paper analyzes the variations of the relative positions of the parts composing an assembly when part dimensions span their specified tolerance zones. We focus on the simplified case where each...
Visibility-Based Pursuit-Evasion in a Polygonal Environment (1997)
Leonidas J. Guibas, Jean-claude Latombe, Steven M. Lavalle, David Lin, Rajeev Motwani
This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually "see" an evader that is unpredictable, has unknown initial position,...
To Appear, Lydia E. Kavraki, Jean-claude Latombe, Mark H. Overmars
A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is...
Nonholonomic Path Planning for Pushing a Disk Among Obstacles (1997)
Pankaj Agarwal, Jean-claude Latombe, Rajeev Motwani, Prabhakar Raghavan
We consider the path-planning problem for a robot pushing an object in an environment containing obstacles. This new variant of the classical robot pathplanning problem has several interesting...
Nonholonomic Path Planning for Pushing a Disk Among Obstacles (1997)
Pankaj Agarwal, Jean-claude Latombe, Rajeev Motwani, Prabhakar Raghavan
We consider the path-planning problem for a robot pushing an object in an environment containing obstacles. This new variant of the classical robot pathplanning problem has several interesting...
Finding an Unpredictable Target in a Workspace with Obstacles (1997)
Steven Lavalle, David Lin, Leonidas J. Guibas, Jean-claude Latombe, Rajeev Motwani
This paper introduces a visibility-based motion planning problem in which the task is to coordinate the motions of one or more robots that have omnidirectional vision sensors, to eventually...
Nonholonomic Path Planning for Pushing a Disk Among Obstacles (1997)
Pankaj Agarwal, Jean-claude Latombe, Rajeev Motwani, Prabhakar Raghavan
We consider the path-planning problem for a robot pushing an object in an environment containing obstacles. This new variant of the classical robot pathplanning problem has several interesting...
Motion Strategies for Maintaining Visibility of a Moving Target (1997)
Steven M. Lavalle, Craig Becker, Jean-claude Latombe
We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning)...
Treatment Planning for Image-Guided Robotic Radiosurgery (1997)
Rhea Tombropoulos, Achim Schweikard, Jean-claude Latombe, John R. Adler
. Radiosurgery is a non-invasive procedure that uses focused beams of radiation to destroy brain tumors. Treatment planning for radiosurgery involves determining a series of beam configurations that...
Motion Strategies for Maintaining Visibility of a Moving Target (1997)
Steven Lavalle, Craig Becker, Jean-claude Latombe
We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning)...
Complexity Measures for Assembly Sequences (1996)
Michael Goldwasser, Jean-claude Latombe, Rajeev Motwani
Our work examines various complexity measures for two-handed assembly sequences. For many products there exists an exponentially large set of valid sequences, and a natural goal is to use automated...
Analysis of probabilistic roadmaps for path planning (1996)
Jean-claude Latombe, Mark Overmars, Lydia Kavraki, Lydia Kavraki
1
Probabilistic roadmaps for path planning in high-dimensional configuration spaces (1996)
Jean-claude Latombe, Mark H. Overmars
A new ' motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic...
Analysis of Probabilistic Roadmaps for Path Planning (1996)
Lydia E. Kavraki, Mihail N. Kolountzakis, Jean-claude Latombe
We provide an analysis of a recent path planning method which uses probabilistic roadmaps. This method has proven very successful in practice, but the theoretical understanding of its performance is...
A Random Sampling Scheme for Path Planning (1996)
Erome Barraquand Lydia, Lydia Kavraki, Jean-claude Latombe, Tsai-yen Li, Rajeev Motwani, Prabhakar Raghavan
Several randomized path planners have been proposed during the last few years. Their attractiveness stems from their applicability to virtually any type of robots, and their empirically observed...
A Visibility-Based Pursuit-Evasion Problem (1996)
Leonidas J. Guibas, Jean-claude Latombe, Steven M. Lavalle, David Lin, Rajeev Motwani
This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually "see" an evader that is unpredictable, has unknown initial position,...
Complexity Measures for Assembly Sequences (1996)
Michael Goldwasser, Jean-claude Latombe, Rajeev Motwani
Our work examines various complexity measures for two-handed assembly sequences. Many present assembly sequencers take a description of a product and output a valid assembly sequence. For many...
Complexity Measures for Assembly Sequences (1996)
Michael Goldwasser, Jean-claude Latombe, Rajeev Motwani
Our work examines various complexity measures for two-handed assembly sequences. For many products there exists an exponentially large set of valid sequences, and a natural goal is to use automated...
A Random Sampling Scheme for Path Planning (1996)
Jérôme Barraquand, Lydia Kavraki, Jean-claude Latombe, Tsai-Yen Li, Rajeev Motwani, Prabhakar Raghavan
Several randomized path planners have been proposed during the last few years. Their attractiveness stems from their applicability to virtually any type of robots, and their empirically observed...
Complexity Measures for Assembly Sequences (1996)
Michael Goldwasser, Jean-claude Latombe, Rajeev Motwani
Our work examines various complexity measures for two-handed assembly sequences. For many products there exists an exponentially large set of valid sequences, and a natural goal is to use automated...
A Visibility-Based Pursuit-Evasion Problem (1996)
Leonidas J. Guibas, Jean-claude Latombe, Steven M. Lavalle, David Lin, Rajeev Motwani
This paper presents a visibility-based motion planning problem in which the task is to coordinate the motions of one or more robots that have omnidirectional vision sensors, to eventually...
Randomized Query Processing in Robot Path Planning (1996)
Lydia E. Kavraki, Jean-claude Latombe, Rajeev Motwani, Prabhakar Raghavan
The subject of this paper is the analysis of a randomized preprocessing scheme that has been used for query processing in robot path planning. The attractiveness of the scheme stems from its general...
Dynamic Maintenance of Kinematic Structures (1996)
Dan Halperin, Jean-Claude Latombe, Rajeev Motwani
Data Structure In this section we give a formal description of our data structuring problem, henceforth referred to as the kinematic data structure problem. We are required to maintain a data...
Geometric manipulation of flexible ligands (1996)
Dan Halperin, Lydia Kavraki, Jean-claude Latombe, Rajeev Motwani, Christian Shelton, Suresh Venkatasubramanian
In recent years an effort has been made to supplement traditional methods for drug discovery by computerassisted “structure-based design. ” The structure-based approach involves (among other...
Leonidas J. Guibas, Dan Halperin, Hirohisa Hirukawa, Jean-claude Latombe
We study the following problem: Given a collection A of polyhedral parts in 3D, determine whether there exists a subset S of the parts that can be moved as a rigid body by an in nitesimal translation...
Two-Handed Assembly Sequencing (1995)
Randall H. Wilson, Lydia Kavraki, Jean-claude Latombe
This paper considers the computational complexity of automatically determining assembly sequences for mechanical products. Specifically, we address the partitioning problem: given an assembly of...
On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment (1995)
Tsai-Yen Li, Jean-claude Latombe
In a dynamic and partially unpredictable environment, robot motion planning must be on-line. The planner receives a continuous #ow of information about occurring events and generates new plans, while...
On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment (1995)
Tsai-Yen Li, Jean-claude Latombe
In a constantly changing and partially unpredictable environment, robot motion planning must be on-line. The planner receives a continuous flow of information about occurring events and generates new...
On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment (1995)
Tsai-Yen Li, Jean-claude Latombe
In a constantly changing and partially unpredictable environment, robot motion planning must be on-line. The planner receives a continuous #ow of information about occurring events and generates new...
Assembly Sequencing with Toleranced Parts (1995)
Jean-claude Latombe, Randall H. Wilson, Frédéric Cazals, All H. Wilson
The goal of assembly sequencing is to plan a feasible series of operations to construct a product from its individual parts. Previous research has investigated assembly sequencing under the...
Two-Handed Assembly Sequencing (1995)
Randall H. Wilson, Lydia Kavraki, Jean-claude Latombe
This article considers the computational complexity of automatically determining assembly sequences for mechanical products. Specifically, we address the partitioning problem: given an assembly of...
On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment (1995)
Tsai-Yen Li, Jean-claude Latombe
In a constantly changing and partially unpredictable environment, robot motion planning must be on-line. The planner receives a continuous flow of information about occurring events and generates new...
Leonidas J. Guibas, Dan Halperin, H. Hirukawa, J.C. Latombe, R.H. Wilson, Hirohisa Hirukawa, ...
We study the following problem: Given a collection A of polyhedral parts in 3D, determine whether there exists a subset S of the parts that can be moved as a rigid body by an infinitesimal...
On Multi-Arm Manipulation Planning (1994)
Yoshihito Koga, Jean-claude Latombe
Abstract: This paper considers the automatic generation of motion paths for several cooperating robot arms to ma-nipulate a movable object between two configurations among obstacles. To avoid...
Randomized preprocessing of configuration space for fast path planning (1994)
Lydia Kavraki, Jean-claude Latombe
This paper presents a new approach to path planning for robots with many degrees of freedom (dof) operating in known static environments. The approach consists of a preprocessing and a planning...
Randomized Preprocessing of Configuration Space for Path Planning: Articulated Robots (1994)
Lydia Kavraki, Jean-claude Latombe
This paper describes the application of a recent approach to path planning for robots with many degrees of freedom (dof) to articulated robots moving in two or three dimensional static environments....
Knowledge as a Tool in Motion Planning under Uncertainty (1994)
Ronen Brafman, Jean-claude Latombe, Yoram Moses, Yoav Shoham
Inspired by the success of the distributed computing community in applying logics of knowledge and time to reasoning about distributed protocols, we aim for a similarly powerful and high-level...
Geometric Reasoning about Mechanical Assembly (1994)
Randall H. Wilson, Jean-claude Latombe
In which order can a product be assembled or disassembled? How many hands are required? How many degrees of freedom? What parts should be withdrawn to allow the removal of a specified subassembly? To...
Planning Motions with Intentions (1994)
Yoshihito Koga, Koichi Kondo, James Kuffner, Jean-claude Latombe
We apply manipulation planning to computer animation. A new path planner is presented that automatically computes the collision-free trajectories for several cooperating arms to manipulate a movable...
Randomized preprocessing of configuration space for fast path planning (1994)
Lydia Kavraki, Jean-Claude Latombe
This paper presents a new approach to path planning for robots with many degrees of freedom (dof) operating in known static environments. The approach consists of a preprocessing and a planning...
Randomized Preprocessing of Configuration Space for Path Planning: Articulated Robots (1994)
Lydia Kavraki, Jean-claude Latombe
This paper describes the application of a recent approach to path planning for robots with many degrees of freedom (dof) to articulated robots moving in two or three dimensional static environments....
On Multi-Arm Manipulation Planning (1994)
Yoshihito Koga, Jean-claude Latombe
: This paper considers the automatic generation of motion paths for several cooperating robot arms to manipulate a movable object between two configurations among obstacles. To avoid collisions the...
Treatment Planning for a Radiosurgical System with General Kinematics (1994)
Achim Schweikard, Rhea Tombropoulos, Lydia Kavraki, John R. Adler, Jean-claude Latombe
: In radiosurgery a beam of radiation is used as an ablative surgical instrument to destroy brain tumors. Treatment planning consists of computing a sequence of beam configurations for delivering a...
On Multi-Arm Manipulation Planning (1994)
Yoshihito Koga, Jean-claude Latombe
: This paper considers the automatic generation of motion paths for several cooperating robot arms to manipulate a movable object between two configurations among obstacles. To avoid collisions the...
Image-Guided Robotic Radiosurgery (1994)
John R. Adler, Achim Schweikard, Rhea Tombropoulos, Jean-claude Latombe
Abstract: We describe a radiosurgical system based onanovel medical linear accelerator of particularly light weight, a six degree-of-freedom robotic arm and an on-line x-ray vision system. The system...
Motion Planning in Stereotaxic Radiosurgery (1993)
Achim Schweikard, John R. Adler, Jean-claude Latombe
Abstract-Stereotaxic radiosurgery is a procedure that uses a beam of radiation as an ablative surgical instrument to destroy brain tumors (or more generally, brain lesions). The beam is produced by a...
On the complexity of assembly partitioning (1993)
Lydia Kavraki, Jean-claude Latombe, Randall H. Wilson
This paper studies the complexity of the assembly partitioning problem in the plane: given a collection of non-overlapping polygons, decide if there is a proper subcollection of them that can be...
On the complexity of assembly partitioning (1993)
Lydia Kavraki, Jean-claude Latombe, Randall H. Wilson
This paper studies the complexity of the assembly partitioning problem in the plane: given a collection of non-overlapping polygons, decide if there is a proper subcollection of them that can be...
Experimental integration of planning in a distributed control system (1993)
Gerardo Pardo-castellote, Yoshihito Koga Z, Robert H. Cannon, Jean-claude Latombe, ...
Motion Planning in Stereotaxic Radiosurgery (1993)
In Stereotaxic Radiosurgery, Achim Schweikard, John R. Adler, Jean-claude Latombe
Stereotaxic radiosurgery is a procedure which uses a beam of radiation as an ablative surgical instrument to destroy brain tumors. The beam is produced by a linear accelerator which is moved by a...
Towards Knowledge-Level Analysis of Motion Planning (1993)
Ronen I. Brafman, Jean-claude Latombe, Yoav Shoham
Inspired by the success of the distributed computing community in applying logics of knowledge and time to reasoning about distributed protocols, we aim for a similarly powerful and high-level...
Controllability and Motion Planning in the Presence of Obstacles 1 (1993)
Jrrme Barraqu, Jean-claude Latombe
Abstract. We consider mobile robots made of a single body (car-like robots) or several bodies (tractors towing several trailers sequentially hooked). These robots are known to be nonholonomic, i.e.,...
Landmark-Based Robot Navigation (1992)
Anthony Lazanas, Jean-claude Latombe
Achieving goals despite uncertainty in control and sensing may require robots to perform complicated motion planning and execution monitoring. This paper describes a reduced version of the general...
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Texte polycopié.
Applications of a Logic of Knowledge to Motion Planning under Uncertainty
Ronen I. Brafman, Jean-claude Latombe, Yoram Moses, Yoav Shoham
Inspired by the success of the distributed computing community in applying logics of knowledge and time to reasoning about distributed protocols, we aim for a similarly powerful and high-level...
Applications of a Logic of Knowledge to Motion Planning under Uncertainty
Ronen Brafman, Jean-claude Latombe
ion and Generality: In principle, the notion of knowledge is dispensable. However, the analysis in terms of knowledge homes in on the essential notion, the knowledge available to the various...
A Motion Planning Approach to Flexible Ligand Binding
Amit P. Singh, Jean-claude Latombe, Douglas L. Brutlag
Most computational models of protein-ligand interactions consider only the energetics of the final bound state of the complex and do not examine the dynamics of the ligand as it enters the binding...