Papers on Mobile Robotics
Equivalent environments and covering spaces for robots. V. Weinstein and S. M. LaValle. In M. Farber and J. Gonzalez, editors, Topology, Geometry and AI. EMS Series in Industrial and Applied Mathematics, 2024. In press, [pdf].
A mathematical characterization of minimally sufficient robot brains. B. Sakcak, K. G. Timperi, V. Weinstein, and S. M. LaValle. The International Journal of Robotics Research, 2023. [pdf].
Sensor localization by few distance measurements via the intersection of implicit manifolds. M. M. Bilevich, S. M. LaValle, and D. Halperin. In IEEE International Conference on Robotics and Automation, 2023. [pdf].
Bang-bang boosting of RRTs. A. J. LaValle, B. Sakcak, and S. M. LaValle. In IEEE International Conference on Intelligent Robots and Systems, pages 2869-2876, 2023. [pdf].
The limits of learning and planning: Minimal sufficient information transition systems. B. Sakcak, V. Weinstein, and S. M. LaValle. In S. M. LaValle, J. M. O'Kane, M. Otte, D. Sadigh, and P. Tokekar, editors, Algorithmic Foundations of Robotics, XV. Springer-Verlag, Berlin, 2023. [pdf].
Unwinding rotations improves user comfort with immersive telepresence robots. M. Suomalainen, B. Sakcak, A. Widagdo, J. Kalliokoski, A. P. Chambers, T. Ojala, and S. M. LaValle. In ACM/IEEE International Conference on Human-Robot Interaction, pages 411-520, 2022. [pdf].
Leaning-based control of an immersive-telepresence robot. J. Halkola, M. Suomalainen, B. Sakcak, K. J. Mimnaugh, J. Kalliokoski, A. P. Chambers, T. Ojala, and S. M. LaValle. In IEEE International Symposium on Mixed and Augmented Reality, 2022. [pdf].
HI-DWA: human-influenced dynamic window approach for shared control of a telepresence robot. J. Kalliokoski, M. Suomalainen, B. Sakcak, A. P. Chambers, T. Ojala, and S. M. LaValle. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022. [pdf].
Comfort and sickness while virtually aboard an autonomous telepresence robot. M. Suomalainen, K. J. Mimnaugh, I. Becerra, E. Lozano, R. Murrieta-Cid, and S. M. LaValle. In P. Bourdot, M. Alcaniz Raya, P. Figueroa, V. Interrante, T. W. Kuhlen, and D. Reiners, editors, EuroXR 2021: Virtual Reality and Mixed Reality (Lecture Notes in Computer Science, 13105), pages 3-24. Springer-Verlag, Berlin, 2021. [pdf].
Complete path planning that simultaneously optimizes length and clearance. B. Sakcak and S. M. LaValle. In IEEE International Conference on Robotics and Automation, 2021. [pdf].
Analysis of user preferences for robot motions in immersive telepresence. K. J. Mimnaugh, M. Suomalainen, I. Becerra, E. Lozano, R. Murrieta-Cid, and S. M. LaValle. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021. [pdf].
Human perception-optimized planning for comfortable VR-based telepresence. I. Becerra, M. Suomalainen, E. Lozano, K. J. Mimnaugh, R. Murrieta-Cid, and S. M. LaValle. IEEE Robotics and Automation Letters, 5(4):6489-6496, 2020. [pdf].
A hardware and software testbed for underactuated self-assembling robots. A. Q. Nilles, J. Wasserman, A. Born, C. Horn, J. Born, and S. M. LaValle. In International Symposium on Multi-Robot and Multi-Agent Systems, pages 7-9, 2019. [pdf].
A visibility-based approach to computing nondeterministic bouncing strategies. A. Q. Nilles, Y. Ren, I. Becerra, and S. M. LaValle. In Proc. Workshop on the Algorithmic Foundations of Robotics, 2018. [pdf].
Periodic trajectories of mobile robots. A. Q. Nilles, I. Becerra, and S. M. LaValle. In Proceedings IEEE International Conference on Intelligent Robots and Systems, 2017. [pdf].
Intensity-based navigation with global guarantees. K. Taylor and S. M. LaValle. Autonomous Robots, 36(4):349-364, 2014. [pdf].
Optimal gap navigation for a disc robot. R. Lopez-Padilla, R. Murrieta-Cid, and S. M. LaValle. In Proc. Workshop on the Algorithmic Foundations of Robotics, 2012. [pdf].
Rendezvous without coordinates. J. Yu, D. Liberzon, and S. M. LaValle. IEEE Transactions on Automatic Control, 57(2):421-434, 2012. [pdf].
Controlling wild bodies using linear temporal logic. L. Bobadilla, O. Sanchez, J. Czarnowski, K. Gossman, and S. M. LaValle. In Proceedings Robotics: Science and Systems, 2011. [pdf].
Manipulating ergodic bodies through gentle guidance. L. Bobadilla, K. Gossman, and S. M. LaValle. In Proceedings IEEE Conference on Robot Motion and Control, 2011. [pdf].
Controlling wild mobile robots using virtual gates and discrete transitions. L. Bobadilla, F. Martinez, E. Gobst, K. Gossman, and S. M. LaValle. In Proc. American Control Conference, 2012. [pdf].
Controlling wild bodies using discrete transition systems. L. Bobadilla, O. Sanchez, J. Czarnowski, K. Gossman, and S. M. LaValle. 2012. Unpublished manuscript, [pdf].
Learning the Delaunay triangulation of landmarks from a distance ordering sensor. M. Katsev and S. M. LaValle. In Proceedings IEEE International Conference on Intelligent Robots and Systems, 2011. [pdf].
Mapping and pursuit-evasion strategies for a simple wall-following robot. M. Katsev, A. Yershova, B. Tovar, R. Ghrist, and S. M. LaValle. IEEE Transactions on Robotics, 27(1):113-128, 2011. [pdf].
Searching and mapping among indistinguishable convex obstacles. B. Tovar and S. M. LaValle. In IEEE International Conference on Robotics and Automation, 2010. [pdf].
I-Bug: An intensity-based bug algorithm. K. Taylor and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2009. [pdf].
Probabilistic localization with a blind robot. L. H. Erickson, J. Knuth, J. M. O'Kane, and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2008. [pdf].
Localization with limited sensing. J. M. O'Kane and S. M. LaValle. IEEE Transactions on Robotics, 23(4):704-716, August 2007. [pdf].
Using a robot to learn geometric information from permutations of landmarks. B. Tovar, L. Freda, and S. M. LaValle. In Contemporary Mathematics, volume 438, pages 33-45. American Mathematical Society, 2007. [pdf].
Distance-optimal navigation in an unknown environment without sensing distances. B. Tovar, R Murrieta-Cid, and S. M. LaValle. IEEE Transactions on Robotics, 23(3):506-518, June 2007. [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].
Learning combinatorial information from alignments of landmarks. L. Freda, B. Tovar, and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2007. [pdf].
Mapping and navigation from permutations of landmarks. B. Tovar, L. Freda, and S. M. LaValle. Technical report, Department of Computer Science, University of Illinois, June 2006. [pdf].
On comparing the power of mobile robots. J. M. O'Kane and S. M. LaValle. In Proceedings Robotics: Science and Systems, 2006. [pdf].
Algorithms for planning under uncertainty in prediction and sensing. J. M. O'Kane, B. Tovar, P. Cheng, and S. M. LaValle. In Autonomous Mobile Robots: Sensing, Control, Decision-Making, and Applications. Marcel Dekker, 2006. [pdf].
Chapter 12: Planning Under Sensing Uncertainty, Planning Algorithms. S. M. LaValle. Cambridge University Press, Cambridge, U.K., 2006. [pdf] [Entire Book].
Chapter 13: Differential Models, Planning Algorithms. S. M. LaValle. Cambridge University Press, Cambridge, U.K., 2006. [pdf] [Entire Book].
Almost-sensorless localization. J. M. O'Kane and S. M. LaValle. In Proceedings IEEE International Conference on Robotics and Automation, 2005. [pdf].
Information spaces for mobile robots. B. Tovar, A. Yershova, J. M. O'Kane, and S. M. LaValle. In Proceedings International Workshop on Robot Motion and Control (RoMoCo 2005), 2005. [pdf].
Bitbots: Simple robots solving complex tasks. A. Yershova, B. Tovar, R. Ghrist, and S. M. LaValle. In Proceedings AAAI National Conference on Artificial Intelligence, 2005. [pdf].
Locally-optimal navigation in multiply-connected environments without geometric maps. B. Tovar, S. M. LaValle, and R. Murrieta-Cid. In Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003. [pdf].
Optimal navigation and object finding without geometric maps or localization. B. Tovar, S. M. LaValle, and R. Murrieta-Cid. In Proceedings IEEE International Conference on Robotics and Automation, pages 464-470, 2003. [pdf].
Motion planning with visibility constraints: Building autonomous observers. H. H. Gonz\'alez-Ba\ nos, L. Guibas, J.-C. Latombe, S. M. LaValle, D. Lin, R. Motwani, and C. Tomasi. In Y. Shirai and S. Hirose, editors, Proceedings Eighth International Symposium on Robotics Research, pages 95-101. Springer-Verlag, Berlin, 1998. [pdf].
Finding an unpredictable target in a workspace with obstacles. S. M. LaValle, D. Lin, L. J. Guibas, J.-C. Latombe, and R. Motwani. In Proceedings IEEE International Conference on Robotics and Automation, pages 737-742, 1997. [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].