Anna Yershova LaValle


MPNN: A Nearest-Neighbor Library for Motion Planning

A C++ library that uses Kd-trees adapted to topological spaces that arise in motion planning. This enables fast nearest-neighbor computations in sampling-based motion planning algorithms.

Sampling the Space of 3D Rotations, SO(3)

A C++ library that generates sequences of samples that are close to uniform and have regular neighborhood structure.

I have also contributed to the Motion Strategy Library and the original Oculus VR SDK (source code no longer distributed).