Diane Uwacu

Papers with Parasol Lab:

• HAS-RRT: RRT-based Motion Planning using Topological Guidance

  by Diane Uwacu, Ananya Yammanuru, Keerthana Nallamotu, Vasu Chalasani, Marco Morales, Nancy M. Amato
  IEEE Robotics and Automation Letters, September 2025

• Hierarchical Annotated Skeleton-Guided Tree-based Motion Planning

  by Diane Uwacu, Ananya Yammanuru, Keerthana Nallamotu, Vasu Chalasani, Marco Morales, Nancy M. Amato
  arXiv Preprint, September 2023

• Scalable Multi-robot Motion Planning for Congested Environments With Topological Guidance

  by Courtney McBeth, James Motes, Diane Uwacu, Marco Morales, Nancy M. Amato
  In IEEE Robotics and Automation Letters, August 2023

• Hierarchical Planning With Annotated Skeleton Guidance

  by Diane Uwacu, Ananya Yammanuru, Marco Morales, Nancy M. Amato
  IEEE Robotics and Automation Letters (RA-L), October 2022

• Evaluating Guiding Spaces for Motion Planning

  by Amnon Attali, Stav Ashur, Isaac Burton Love, Courtney McBeth, James Motes, Diane Uwacu, Marco Morales, Nancy M. Amato
  IROS 2022, Workshop for Evaluating Motion Planning Performance, October 2022

• Topology-Guided Roadmap Construction with Dynamic Region Sampling

  by Read Sandström, Diane Uwacu, Jory Denny, Nancy M. Amato
  IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 4,, October 2020

• Using Guided Motion Planning to Study Binding Site Accessibility

  by Diane Uwacu, Abigail Ren, Shawna Thomas, Nancy M. Amato
  Proceedings of the 11th ACM International Conference on Bioinformatics, Computational Biology and Health Informatics, September 2020

• Using Motion Planning to Evaluate Protein Binding Site Accessibility

  by Diane Uwacu, Everett Yang, Shawna Thomas, Nancy M. Amato
  Technical Report, TR18-001, July 2018

• The Impact of Approximate Methods on Local Learning in Motion Planning

  by Diane Uwacu, Chinwe Ekenna, Shawna Thomas, Nancy Amato
  1st International Workshop on Robot Learning and Planning (RLP 2016), in conjunction with RSS 2016, June 2016

• Studying Learning Techniques in Different Phases of PRM Construction

  by Chinwe Ekenna, Diane Uwacu, Shawna Thomas, Nancy Amato
  In Machine Learning in Planning and Control of Robot Motion Workshop (IROS-MLPC), October 2015

• Improved Roadmap Connection via Local Learning for Sampling Based Planners

  by Chinwe Ekenna, Diane Uwacu, Shawna Thomas, Nancy Amato
  Proc. IEEE/RSJ Int. Conf. Intel. Rob. Syst. (IROS), October 2015