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Sampling based Planning

We are working on various planning techniques for different types of robots. Some of examples include:

  • Optimal planning techniques for robots
  • Sampling based techniques for handling difficult regions, e.g., narrow passage
  • Integrated approaches for task and motion planning

    • Adaptive Lazy Collision Checking for Optimal Sampling-based Motion Planning
    Donghyuk Kim, Youngsun Kwon and Sung-Eui Yoon
    Int. Conf. on Ubiquitous Robots(UR) 2018

    Automated task planning using object arranement optimization
    Mincheul Kang, Youngsun Kwon and Sung-Eui Yoon
    Int. Conf. on Ubiquitous Robots(UR) 2018
    Source code: ZIP file, Github page

    Dancing PRM* : Simultaneous Planning of Sampling and Optimization with Configuration Free Space Approximation
    Donghyuk Kim, Youngsun Kwon and Sung-Eui Yoon
    IEEE Int. Conf. on Robotics and Automation (ICRA) 2018

    DDK-RRT: A Data Driven Kinodynamic RRT for continuous kinodynamic planning with complex dynamics
    Junghwan Lee, Heechan Shin and Sung-Eui Yoon
    Accepted to International Conference on Advanced Robotics(ICAR), 2017 (oral paper) Received the best paper award in robotic planning

    PCA based Computation of Illumination-Invariant Space for Road Detection
    Taeyoung Kim, Yu-Wing Tai and Sung-Eui Yoon
    Accepted to WACV 2017
    Source code: ZIP file, Github page

    Anytime RRBT for Handling Uncertainty and Dynamic Objects
    Hyunchul Yang, Jongwoo Lim, Sung-Eui Yoon
    Accepted to IROS2016

    Super Ray based Updates for Occupancy Maps
    Youngsun Kwon, Donghyuk Kim, Sung-Eui Yoon
    IEEE Int. Conf. on Robotics and Automation (ICRA) 2016
    Source code: ZIP file, Github page


    Recursive Path Planning Using Reduced States for Car-like Vehicles on Grid Maps
    Sangyol Yoon, Sung-Eui Yoon, Unghui Lee, and David Hyunchul Shim
    (Accepted at) IEEE Transactions on Intelligent Transportation Systems, 2015

    Selective retraction-based RRT planner for various environments
    Junghwan Lee, OSung Kwon, Liangjun Zhang, and Sung-Eui Yoon
    (To appear) IEEE Transactions on Robotics (T-RO), 2014

    Cloud RRT*: Sampling Cloud based RRT*
    Donghyuk Kim, Junghwan Lee, Sung-Eui Yoon
    Accepted to ICRA2014

    PROT: Productive Regions-Oriented Task space path planning for hyper-redundant manipulators
    Junghwan Lee and Sung-eui Yoon
    Accepted to ICRA2014


    SR-RRT: Selective Retraction-based RRT Planner
    Junghwan Lee, OSung Kwon, Liangjun Zhang, and Sung-eui Yoon
    IEEE International Conference on Robotics and Automations (ICRA) 2012