computational robotics

from tasks to motions

2017

  1. Edelkamp S, Pomarlan M, and Plaku E (2017): "Multi-Region Inspection by Combining Clustered Traveling Salesman Tours with Sampling-Based Motion Planning." IEEE Robotics and Automation Letters, vol. 2, pp. 428--435  [publisher]  [preprint]
  2. Plaku E, Plaku E, and Simari P (2017): "Direct Path Superfacets: An Intermediate Representation for Motion Planning." IEEE Robotics and Automation Letters, vol. 2, pp. 350--357  [publisher]  [preprint]
  3. McMahon J and Plaku E (2017): "Robot Motion Planning with Task Specifications via Regular Languages." Robotica, vol. 35, pp. 26--49  [publisher]  [preprint]
  4. Edelkamp S, Can Secim, B and Plaku E (2017): "Surface Inspection via Hitting Sets and Multi-Goal Motion Planning." Springer LNCS Towards Autonomous Robotic Systems, in press  [publisher]  [preprint]
  5. Le D and Plaku E (2017): "Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics." Proceedings of the International Conference on Planning and Scheduling, in press (Best Robotics Paper)  [publisher]  [preprint]
  6. Kvelashvili T, Kilic O, Can Secim B, and Plaku E (2017): ``UAV Swarm-Based Antenna System.'' Proceedings of the USNC-URSI National Radio Science, in press  [publisher]  [preprint]

2016

  1. Shehu A and Plaku E (2016): "A Survey of Computational Treatments of Biomolecules by Robotics-inspired Methods Modeling Equilibrium Structure and Dynamics." Journal of Artificial Intelligence Research, vol. 57, pp. 509--572  [publisher]  [preprint]
  2. McMahon J and Plaku E (2016): "Autonomous Data Collection with Limited Time for Underwater Vehicles." IEEE Robotics and Automation Letters, vol. 2, pp. 112–119  [publisher]  [preprint]
  3. Maximova T, Plaku E, and Shehu A (2016): "Structure-guided Protein Transition Modeling with a Probabilistic Roadmap Algorithm." IEEE/ACM Transactions on Computational Biology and Bioinformatics, vol. 13, pp. 1-14  [publisher]  [preprint]
  4. Plaku E, Rashidian S, and Edelkamp S (2016): "Multi-Group Motion Planning in Virtual Environments." Computer Animation and Virtual Worlds, in press  [publisher]  [preprint]
  5. Plaku E and Le D (2016): "Interactive Search for Action and Motion Planning with Dynamics." Journal of Experimental and Theoretical Artificial Intelligence, vol. 28, pp. 849–869  [publisher]  [preprint]
  6. McMahon J and Plaku E (2016): "Mission and Motion Planning for Autonomous Underwater Vehicles Operating in Spatially and Temporally Complex Environments." IEEE Journal of Oceanic Engineering, vol. 41, pp. 893–912  [publisher]  [preprint]
  7. Maximova T, Carr D, Plaku E, and Shehu A (2016): "Sample-based Models of Protein Structural Transitions." Proceedings of the ACM Conference on Bioinformatics and Computational Biology, pp. 128--137  [publisher]  [preprint]
  8. Maximova T, Plaku E, and Shehu A (2016): "The Sampling-based Algorithm for Modeling Protein Conformational SwitchingMethod for Extended Sampling and Transition Paths Prediction with Probabilistic Roadmap Algorithm." Proceedings of the Structural Bioinformatics and Computational Biophysics, Intelligent Systems for Molecular Biology, pp. 66 (recognized with Outstanding Research Presentation)

2015

  1. Plaku E and Karaman S (2015): "Motion Planning with Temporal-Logic Specifications: Progress and Challenges." AI Communications, vol. 29, pp. 151--162  [publisher]  [preprint]
  2. McMahon J, Dzikowicz B, Houston B, and Plaku E (2015): “A Hybrid Planning Framework For Autonomous Underwater Vehicles.” NRL Review, pp. 114--116  [publisher]  [preprint]
  3. Wallar A, Plaku E, and Sofge D (2015): "Reactive Motion Planning for Unmanned Aerial Surveillance of Risk-Sensitive Areas." IEEE Transactions on Automated Science and Engineering, vol. 12, pp. 969--980  [publisher]  [preprint]
  4. Plaku E (2015): "Region-Guided and Sampling-Based Tree Search for Motion Planning with Dynamics." IEEE Transactions on Robotics, vol. 31, pp. 723--735  [publisher]  [preprint]
  5. Wells A and Plaku E (2015): "Adaptive Sampling-Based Motion Planning for Mobile Robots with Differential Constraints." Springer LNCS Towards Autonomous Robotic Systems, vol. 9287, pp. 283--295  [publisher]  [preprint] (Best Student Paper)
  6. Maximova T, Plaku E, and Shehu A (2015): "Computing Transition Paths in Multiple-Basin Proteins with a Probabilistic Roadmap Algorithm." Proceedings of the IEEE International Conference on Bioinformatics and Biomedicine, pp. 35--42  [publisher]  [preprint]
  7. McMahon J and Plaku E (2015): “Autonomous Underwater Vehicle Mine Countermeasures via the Physical Traveling Salesman Problem.” MTS/IEEE Oceans, in press  [publisher]  [preprint]
  8. Edelkamp S, Plaku E, Greulich C, and Pomarlan M (2015): “Solving the Inspection Problem via Colored Traveling Salesman Tours." Workshop on Task Planning for Intelligent Robots in Service and Manufacturing, IEEE International Conference on Robotics and Automation, pp. 26–31  [publisher]  [preprint]

2014

  1. Plaku E and McMahon J (2014): “Motion Planning and Decision Making for Underwater Vehicles Operating in Constrained Environments in the Littoral.” Springer LNCS Towards Autonomous Robotic Systems, vol. 8069, pp. 328–339  [publisher]  [preprint]
  2. Wallar A and Plaku E (2014): “Path Planning for Swarms by Combining Probabilistic Roadmaps and Potential Fields.” Springer LNCS Towards Autonomous Robotic Systems, vol. 8069, pp. 417–428  [publisher]  [preprint]
  3. McMahon J and Plaku E (2014): “Sampling-Based Tree Search with Discrete Abstractions for Motion Planning with Dynamics and Temporal Logic.“ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3726–3733  [publisher]  [preprint]
  4. Le D and Plaku E (2014): “Guiding Sampling-Based Tree Search for Motion Planning with Dynamics via Probabilistic Roadmap Abstractions.“ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 212--217  [publisher]  [preprint]
  5. Rashidian S, Plaku E, and Edelkamp S (2014): “Motion Planning with Rigid-Body Dynamics for Generalized Traveling Salesman Tours.” ACM SIGGRAPH Motion in Games, pp. 87–96  [publisher]  [preprint]
  6. Edelkamp S and Plaku E (2014): “Multi-goal Motion Planning with Physics-based Game Engines.” Proceedings of the IEEE Conference on Computational Intelligence and Games, pp. 115--122  [publisher]  [preprint]
  7. Wallar A and Plaku E (2014): “Path Planning for Swarms in Dynamic Environments by Combining Probabilistic Roadmaps and Potential Fields.” Proceedings of the IEEE Symposium on Swarm Intelligence, pp. 290–297  [publisher]  [preprint]
  8. Wallar A, Plaku E, and Sofge D (2014): “A Planner for Autonomous Risk-Sensitive Coverage (PARCov) by a Team of Unmanned Aerial Vehicles.” Proceedings of the IEEE Symposium on Swarm Intelligence, pp. 283–289  [publisher]  [preprint]
  9. McMahon J and Plaku E (2014): “Combined Task and Motion Planning for AUVs.” Workshop on AI and Robotics, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 17–18  [publisher]  [preprint]

2013

  1. Plaku E, Kavraki LE, and Vardi MY (2013): “Falsification of LTL Safety Properties in Hybrid Systems with Nonlinear Dynamics.” Springer International Journal on Software Tools for Technology Transfer, vol. 15, pp. 305–320  [publisher]  [preprint]
  2. Plaku E (2013): “Robot Motion Planning with Dynamics as Hybrid Search.” Proceedings of the AAAI Conference on Artificial Intelligence, pp. 1415–1421  [publisher]  [preprint]
  3. McMahon J and Plaku E (2013): “Combined Mission and Motion Planning to Enhance Autonomy of Underwater Vehicles Operating in the Littoral Zone.” Workshop on Combining Task and Motion Planning, IEEE International Conference on Robotics and Automation, pp. 17–22  [publisher]  [preprint]
  4. McMahon J and Plaku E (2013): “Motion Planning with Linear Temporal Logic for Underwater Vehicles Operating in Constrained Environments.” Workshop on Planning in Continuous Domains, International Conference on Automated Planning and Scheduling, pp. 3  [publisher]  [preprint]
  5. Plaku E (2013): “From Navigation to Robotic-Assisted Surgery: Combined Planning in Discrete and Continuous Spaces.” Workshop on Combining Robot Motion Planning and AI Planning for Practical Applications, Robotics: Science and Systems, pp. 5–6  [publisher]  [preprint]

2012

  1. Plaku E (2012): "Planning in Discrete and Continuous Spaces: From LTL Tasks to Robot Motions." Springer LNCS Towards Autonomous Robotic Systems, vol. 7429, pp. 331-342.   [publisher]   [preprint]
  2. Plaku E (2012): "Guiding Sampling-based Motion Planning by Forward and Backward Discrete Search." Springer LNCS Intelligent Robots and Applications, vol. 7508, pp. 289--300   [publisher]   [preprint]
  3. Plaku E (2012): "Motion Planning with Discrete Abstractions and Physics-Based Game Engines." Springer LNCS Motion in Games, pp. 290--301   [publisher]   [preprint]
  4. Plaku E (2012): "Path Planning with Probabilistic Roadmaps and Linear Temporal Logic." Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2269--2275   [publisher]   [preprint]
  5. Plaku E (2012): "Motion Planning with Differential Constraints as Guided Search over Continuous and Discrete Spaces." International Symposium on Combinatorial Search, pp. 171--172   [publisher]   [preprint]
  6. Plaku E (2012): ”Planning Robot Motions to Satisfy Linear Temporal Logic, Geometric, and Differential Constraints.” Workshop on Combining Task and Motion Planning for Real-World Applications, International Conference on Automated Planning and Scheduling, pp. 21–28   [publisher]   [preprint]

2011

  1. Pezzementi Z, Plaku E, Reyda C, and Hager GD (2011): "Tactile Object Recognition From Appearance Information." IEEE Transactions on Robotics, vol. 27(3), pp. 473--487  [publisher]  [preprint]
  2. Liu WP, Lucas BC, Guerin K, and Plaku E (2011): "Sensor and Sampling-based Motion Planning for Minimally Invasive Robotic Exploration of Osteolytic Lesions." Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1346--1352   [publisher]   [preprint]
  3. Plaku E (2011): “Sampling-based Motion Planning with High-Level Discrete Specifications.” Workshop on Progress and Open Problems in Motion Planning, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 29--30   [publisher]   [preprint]

2010

  1. Plaku E, Kavraki LE, and Vardi MY (2010): "Motion Planning with Dynamics by a Synergistic Combination of Layers of Planning." IEEE Transactions on Robotics, vol. 26(3), pp. 469--482   [publisher]   [preprint]
  2. Reiley C, Plaku E, and Hager GD (2010): "Motion Generation of Robotic Surgical Tasks: Learning from Expert Demonstrations." Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society,pp. 967--970   [publisher]   [preprint]
  3. Plaku E and Hager GD (2010): "Sampling-based Motion and Symbolic Action Planning with Geometric and Differential Constraints."Proceedings of the IEEE International Conference on Robotics and Automation, pp. 5002--5008  [publisher]  [preprint]

2009

  1. Plaku E, Kavraki LE, and Vardi MY (2009): "Hybrid Systems: From Verification to Falsification by Combining Motion Planning and Discrete Search." Formal Methods in System Design, 2009, vol. 34(2), pp. 157--182   [publisher]   [preprint]
  2. Plaku E, Kavraki LE, and Vardi MY (2009): "Falsification of LTL Safety Properties in Hybrid Systems." Springer LNCS Tools and Algorithms for the Construction and Analysis of Systems, vol. 5505, pp. 368--382  [publisher]  [preprint]

2008

  1. Plaku E and Kavraki LE (2008): "Quantitative Analysis of Nearest-Neighbors Search in High-Dimensional Sampling-Based Motion Planning." Springer Tracts in Advanced Robotics, vol. 47, pp. 3--18  [publisher]  [preprint]
  2. Plaku E, Kavraki LE, and Vardi MY (2008): "Impact of Workspace Decompositions on Discrete Search Leading Continuous Exploration (DSLX) Motion Planning." Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3751--3756   [publisher]   [preprint]

2007

  1. Plaku E, Stamati H, Clementi C, and Kavraki LE (2007): "Fast and Reliable Analysis of Molecular Motion Using Proximity Relations and Dimensionality Reduction." Proteins: Structure, Function, and Bioinformatics, vol. 67(4), pp. 897--907   [publisher]   [preprint]
  2. Plaku E and Kavraki LE (2007): "Distributed Computation of the knn Graph for Large High-Dimensional Point Sets." Journal of Parallel and Distributed Computing, vol. 67(3), pp. 346--359  [publisher]  [preprint]
  3. Plaku E, Kavraki LE, and Vardi MY (2007): "Hybrid Systems: From Verification to Falsification." Springer LNCS Computer Aided Verification, vol. 4590, pp. 468--481   [publisher]   [preprint]
  4. Plaku E, Kavraki LE, and Vardi MY (2007): "Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning." Robotics: Science and Systems, pp. 326--333   [publisher]   [preprint]
  5. Plaku E and Kavraki LE (2007): "Nonlinear Dimensionality Reduction Using Approximate Nearest Neighbors." Proceedings of the SIAM International Conference on Data Mining, pp. 180--191   [publisher]   [preprint]
  6. Plaku E, Kavraki LE, and Vardi MY (2007): "A Motion Planner for a Hybrid Robotic System with Kinodynamic Constraints." Proceedings of the IEEE International Conference on Robotics and Automation, pp. 692--697  [publisher]  [preprint]
  7. Plaku E, Bekris KE, and Kavraki LE (2007): "OOPS for Motion Planning: An Online Open-source Programming System." Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3711--3716   [publisher]   [preprint]

2005

  1. Plaku E, Bekris KE, Chen BY, Ladd AM, and Kavraki LE (2005): "Sampling-Based Roadmap of Trees for Parallel Motion Planning." IEEE Transactions on Robotics, 2005, vol. 21(4), pp. 587--608   [publisher]   [preprint]
  2. Plaku E and Kavraki LE (2005): "Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning." Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3879--3884  [publisher]  [preprint]

2003

  1. Akinc M, Bekris KE, Chen BY, Ladd AM, Plaku E, and Kavraki LE (2003): "Probabilistic Roadmaps of Trees for Parallel Computation of Multiple Query Roadmaps." Springer Tracts in Advanced Robotics, vol. 15, pp. 80--89  [publisher]  [preprint]
  2. Bekris KE, Chen BY, Ladd AM, Plaku E, and Kavraki LE (2003): "Multiple Query Motion Planning using Single Query Primitives." Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 656--661  [publisher]  [preprint]

2001

  1. Plaku E and Shparlinski IE (2001): "On Polynomial Representations of Boolean Functions Related to some Number Theoretic Problems." Proceedings of the International Conference on Foundations of Software Technology and Theoretical Computer Science, vol. 2245, pp. 305--316  [publisher]  [preprint]

1999

  1. Arnavut Z and Plaku E (1999): "Lossless Compression of ECG Signals." Proceedings of the IEEE International Conference of the Engineering in Medicine and Biology Society, pp. 274  [publisher]  [preprint]
Thesis
  • Plaku E (2008): "From High-Level Tasks to Low-Level Motions: Motion Planning for High-Dimensional Nonlinear Hybrid Robotic Systems" Ph.D. Thesis, Rice University, Houston, TX  [publisher]  [preprint]
  • Plaku E (2002): "Multiplicity Automata, Polynomials and the Complexity of Small-Depth Boolean Circuits." M.S. Thesis, Clarkson University, Postdam, New York   [publisher]   [preprint]