.
.
.
.
Characterizing Protein Conformation Space (2007)
Nigham, Anshul, Hsu, David, Latombe, Jean-Claude
In this work, we propose a radical approach for exploring the space of all possible protein structures. We present techniques to explore the clash-free conformation space, which comprises all protein...
Characterizing Protein Conformation Space (2007)
Nigham, Anshul, Hsu, David, Latombe, Jean-Claude
In this work, we propose a radical approach for exploring the space of all possible protein structures. We present techniques to explore the clash-free conformation space, which comprises all protein...
Fast Synthetic Vision, Memory, and Learning Models for Virtual Humans (2003)
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...
Interactive Manipulation Planning for Animated Characters (2003)
James Kuffner, Jr. 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...
Toward Autonomous Free-Climbing Robots (2003)
Tim Bretl, Jean-claude Latombe, Stephen Rock
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 articulated...
A Performance-Based Approach to Wheelchair Accessible Route Analysis (2003)
Jean-claude Latombe, John C. Kurtz
This paper presents a method to determine if a usable wheelchair accessible route in a facility exists using motion-planning techniques. We use a 'performance-based' approach to predict the...
Real-Time Knot Tying Simulation (2003)
Joel Brown, Jean-claude Latombe, Kevin Montgomery
While rope is arguably a simpler system to simulate than cloth, the real-time simulation of rope, and knot tying in particular, raise unique and difficult issues in contact detection and management....
Dynamic Networks for Motion Planning in Multi-Robot Space Systems (2003)
Christopher M. Clark, Stephen M. Rock, Jean-claude Latombe
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...
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...
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...
Motion Planning for Multiple Mobile Robot Systems using Dynamic Networks (2003)
Christopher M. Clark, Stephen M. Rock, Jean-claude Latombe
Presented is a new approach to multi-robot motion planning that is based on the concept of planning within dynamic robot networks. The system enables multiple mobile robots that have limited ranges...
Planning Multi-Goal 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 configurations 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
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 vertical natural...
Algorithm and Data Structures for Ecient Energy Maintenance during (2003)
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...
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...
Exact Collision Checking Of Robot Paths (2002)
Fabian Schwarzer, Mitul Saha, Jean-claude Latombe
This paper describes a new efficient collision checker to test single straight-line segments in c-space, sequences of such segments, or more complex paths. This checker is particularly suited for...
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...
On the Complexity of Assembly Partitioning (2002)
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...
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...
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...
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...
Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces (2002)
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...
Randomized Preprocessing of Configuration Space for Path Planning: Articulated Robots (2002)
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....
David Hsu, Lydia E. Kavrakit, Jean-claude Latombe, Rajeev Motwani
Applications such as robot programming, design for manufactur- ing, animation of digital actors, rationale drug design, and surgical planning, require computing paths in high-dimensional geometric...
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)
Frdric Mazzella, Kevin Montgomery, Jean-claude Latombe
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 sensitive to...
Efficient Maintenance and Self-Collision Testing for Kinematic Chains (2002)
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...
Real-time Combinatorial Tracking of a Target (2002)
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...
A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking (2002)
Gildardo Sinchez, Jean-claude Latombe
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 Combinatorial Tracking of a Target (2002)
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...
Stochastic Roadmap Simulation: An Efficient Representation and (2002)
Mehmet Serkan, Apaydin Douglas, L. Brutlag, Carlos Guestrin, David Hsu, Jean-claude Latombe
Classic techniques for simulating molecular motion, such as the Monte Carlo and molecular dynamics methods, generate individual motion pathways one at a time and spend most of their time trying to...
Randomized Kinodynamic Motion Planning with Moving Obstacles (2001)
David Hsu, Robert Kindel, Jean-claude Latombe, Stephen Rock
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...
Using a PRM Planner to Compare Centralized and Decoupled Planning for Multi-Robot Systems (2001)
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...
Mehmet Serkan, Apaydin Douglas, L. Brutlag, Carlos Guestrin, David Hsu, Jean-claude Latombe
Classic techniques for simulating molecular motion, such as Monte Carlo method and molecular dynamics, generate individual motion pathways one at a time and are inefficient if applied in a naive...
Placing a Robot Manipulator Amid Obstacles for Optimized Execution (2001)
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...
Real-Time Simulation of Deformable Objects: Tools and Application (2001)
Joel Brown, Stephen Sorkin, Comp Sci Dept, Cynthia Bruyns, Jean-claude Latombe, Kevin Montgomery, ...
This paper presents algorithms for animating deformable objects in real-time. It focuses on computing the deformation of an object subject to external forces and detecting collisions among deformable...
A Microsurgery Simulation System (2001)
Joel Brown, Kevin Montgomery, Jean-claude Latombe, Michael Stephanides
. 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 with...
Randomized Kinodynamic Motion Planning with Moving Obstacles (2001)
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...
Robot Navigation for Automatic Model Construction using Safe Regions (2001)
Hector Gonzalez-banos, Jean-claude Latombe
: 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 of...
Applications of a Logic of Knowledge (2001)
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...
Interactive Manipulation Planning for Animated Characters (2000)
James Kuffner, Jr. 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...
David Hsu, Lydia E. Kavraki, Jean-claude Latombe, Rajeev Motwani
. 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 this...
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...
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...
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...
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...
Fast Synthetic Vision, Memory, and Learning Models for Virtual Humans (2000)
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...
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...
Autonomous Agents For Real-Time Animation (1999)
James J. Kuner, Jean-claude Latombe, Leonidas J. Guibas, Christoph Bregler
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...
Autonomous Agents For Real-Time Animation (1999)
James J. Kuner, Jean-claude Latombe, Leonidas J. Guibas, Christoph Bregler
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...
Kinodynamic Motion Planning Amidst Moving Obstacles (1999)
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....
On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment (1999)
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 (1999)
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...
Experimental Integration of Planning in a Distributed Control System (1999)
Gerardo Pardo-castellote, Tsai-yen Li, Yoshihito Koga, Robert H. Cannon, Jean-claude Latombe, Stanley A. Schneider
Introduction Automation and ease-of-operation are two goals of robotic systems. Ideally, one would specify a highlevel task such as an assembly and have it happen automatically. To achieve these...
On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment (1999)
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...
On-Line Robot Motion Planning In Dynamic Environments (1999)
Tsai-yen Li, Jean-claude Latombe, Oussama Khatib
In a constantly changing and partially unpredictable environment, robot motion planning must be on-line. The planner then receives a continuous #ow of information about occurring events and generates...
A Random Sampling Scheme for Path Planning (1999)
Lydia Kavraki, Jean-claude Latombe, Tsai-yen Li, Rajeev Motwani, Prabhakar Raghavan
Several randomized pathplanners have been proposed over the last few years. Their attractiveness stems from their applicability to virtually any type of robots, and their empirically observed...
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 collisionfree...
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....
Kinodynamic Motion Planning Amidst Moving Obstacles (1999)
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....
The Autonomous Observer: A Tool for Remote Experimentation in Robotics (1999)
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...
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...
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 Random Sampling Scheme for Path Planning (1999)
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...
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...
Analysis of Probabilist (1999)
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...
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...
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...
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....
Geometric Manipulation of F (1999)
Paul W. Finn, Dan Halperin, Lydia E. Kavraki, Jean-claude Latombe, Rajeev Motwani, Christian Shelton
. 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 other...