Motion Planning

Motion planning is a cornerstone of the robotics pipeline. Given a mobile object (the robot), an environment, and a start and goal position, the objective of motion planning is to find a valid path from start to goal. A path is valid if it meets a problem-specific set of constraints; such constraints can include the robot does not collide with any obstacles, the robot does not collide with itself, or the robot does not exceed any physical limitations to its velocity.

Our lab focuses its research on sampling-based motion planning, wherein points are sampled according to some distribution in the robot’s configuration space, and then connected togother in a graph to find its goal. We are researching a variety techniques to make this process more performant, including adding smarter sampling to sample more relevant points, parallelization, and improvements to the validity checking process to verify samples more quickly.

Publications

• Ngui, I. , McBeth, C. , Santos, A. , He, G. , Mimnaugh, K.J. , Motes, J.D. , Soares, L. , Morales, M. , & Amato, N.M. (2025). ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality. ArXiv Preprint. https://doi.org/https://doi.org/10.48550/arXiv.2510.02464
• Uwacu, D. , Yammanuru, A. , Nallamotu, K. , Chalasani, V. , Morales, M. , & Amato, N.M. (2025). HAS-RRT: RRT-based Motion Planning using Topological Guidance. IEEE Robotics and Automation Letters , 10(6) , 6223-6230. https://doi.org/10.1109/LRA.2025.3560878
• Uwacu, D. , Yammanuru, A. , Nallamotu, K. , Chalasani, V. , Morales, M. , & Amato, N.M. (2025). HAS-RRT: RRT-based Motion Planning using Topological Guidance. IEEE Robotics and Automation Letters , 10(6) , 6223-6230. https://doi.org/10.1109/LRA.2025.3560878
• Qin, M. , Solis, I. , Motes, J. , Morales, M. , & Amato, N.M. (2025). K-ARC: Adaptive Robot Coordination for Multi-Robot Kinodynamic Planning. ArXiv. https://doi.org/https://doi.org/10.48550/arXiv.2501.01559
• Solis, I. (2024). Hybrid Multi-Robot Motion Planning. Doctoral dissertation. https://doi.org/NA
• Solis, I. , Motes, J. , Qin, M. , Morales, M. , & Amato, N.M. (2024). Experience-based Subproblem Planning for Multi-Robot Motion Planning. ArXiv. https://doi.org/https://doi.org/10.48550/arXiv.2411.08851
• Lee, S. , Motes, J. , Ngui, I. , Morales, M. , & Amato, N.M. (2024). Lazy-DaSH: Lazy Approach for Hypergraph-based Multi-robot Task and Motion Planning. ICRA@40. https://doi.org/Unpublished
• Solis, I. , Motes, J. , Qin, M. , Morales, M. , & Amato, N.M. (2024). Adaptive Robot Coordination: A Subproblem-based Approach for Hybrid Multi-Robot Motion Planning. IEEE Robotics and Automation Letters , 9(8) , 7238-7245. https://doi.org/10.1109/LRA.2024.3420548
• Solis, I. , Motes, J. , Qin, M. , Morales, M. , & Amato, N.M. (2024). Adaptive Robot Coordination: A Subproblem-based Approach for Hybrid Multi-Robot Motion Planning. IEEE Robotics and Automation Letters , 9(8) , 7238-7245. https://doi.org/10.1109/LRA.2024.3420548
• McBeth, C. , Motes, J. , Ngui, I. , Morales, M. , & Amato, N.M. (2024). Scalable Multi-Robot Motion Planning Using Guidance-Informed Hypergraphs. ArXiv Preprint. arXiv
• Uwacu, D. , Yammanuru, A. , Nallamotu, K. , Chalasani, V. , Morales, M. , & Amato, N.M. (2023). Hierarchical Annotated Skeleton-Guided Tree-based Motion Planning. arXiv Preprint. arXiv
• McBeth, C. , Motes, J. , Uwacu, D. , Morales, M. , & Amato, N.M. (2023). Scalable Multi-robot Motion Planning for Congested Environments With Topological Guidance. In IEEE Robotics and Automation Letters , 1-8. https://doi.org/10.1109/LRA.2023.3312980
• Uwacu, D. , Yammanuru, A. , Morales, M. , & Amato, N.M. (2022). Hierarchical Planning With Annotated Skeleton Guidance. IEEE Robotics and Automation Letters (RA-L) , 7(4) , 11055-11061. https://doi.org/10.1109/LRA.2022.3196885
• Solis, I. , Motes, J. , Sandström, R. , & Amato, N.M. (2021). Representation-Optimal Multi-Robot Motion Planning using Conflict-Based Search. IEEE Robotics and Automation Letters. https://doi.org/https://doi.org/10.1109/LRA.2021.3068910
• Sandström, R. , Uwacu, D. , Denny, J. , & Amato, N.M. (2020). Topology-Guided Roadmap Construction with Dynamic Region Sampling. IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 4, , 5(4) , 6161-6168. https://doi.org/10.1109/LRA.2020.3010487
• Uwacu, D. , Ren, A. , Thomas, S. , & Amato, N.M. (2020). Using Guided Motion Planning to Study Binding Site Accessibility. Proceedings of the 11th ACM International Conference on Bioinformatics, Computational Biology and Health Informatics , 10. https://doi.org/10.1145/3388440.3414707
• Ghosh, M. , Thomas, S. , & Amato, N.M. (2020). Fast Collision Detection for Motion Planning Using Shape Primitive Skeletons. Algorithmic Foundations of Robotics XIII. Springer Proceedings in Advanced Robotics (SPAR). The 2018 Workshop on the Algorithmic Foundations of Robotics (WAFR) , 14 , 36-51. https://doi.org/10.1007/978-3-030-44051-0_3
• Denny, J. , Sandstrom, R. , Bregger, A. , & Amato, N.M. (2020). Dynamic Region-biased Rapidly-exploring Random Trees. Algorithmic Foundations of Robotics XII. Springer Proceedings in Advanced Robotics (SPAR). The 2016 Workshop on the Algorithmic Foundations of Robotics (WAFR) , 13 , 640-655. https://doi.org/10.1007/978-3-030-43089-4_41
• Motes, J. , Sandstrom, R. , Lee, H. , Thomas, S. , & Amato, N.M. (2020). Multi-Robot Task and Motion Planning with Subtask Dependencies. IEEE Robotics and Automation Letters (RA-L) , 5(2) , 3338--3345. https://doi.org/10.1109/LRA.2020.2976329
• Ghosh, M. (2019). Geometric Approximations and Their Application to Motion Planning. Doctoral Dissertation, Texas A&M University. View publication
• Pattanshetti, S. , Sandström, R. , Kottala, A. , Amato, N.M. , & Ryu, S.C. (2019). Feasibility Study of Robotic Needles with a Rotational Tip-Joint and Notch Patterns. Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) , 1534--1540. https://doi.org/10.1109/ICRA.2019.8793574
• Uwacu, D. , Yang, E. , Thomas, S. , & Amato, N.M. (2018). Using Motion Planning to Evaluate Protein Binding Site Accessibility. Technical Report, TR18-001.
• McMahon, T. , Thomas, S. , & Amato, A.N.M. (2018). Sampling-based motion planning with reachable volumes for high-degree-of-freedom manipulators. The International Journal of Robotics Research , 37(7) , 779--817. https://doi.org/10.1177/0278364918779555
• Ebinger, T. , Kaden, S. , Thomas, S. , Andre, R. , Amato, N.M. , & Thomas, A.U. (2018). A General and Flexible Search Framework for Disassembly Planning. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) , 1--8. https://doi.org/10.1109/ICRA.2018.8460483
• Sandstrom, R. , Bregger, A. , Smith, B. , Thomas, S. , & Amato, N.M. (2018). Topological Nearest-Neighbor Filtering for Sampling-Based Planners. Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) , 3053-3060. https://doi.org/10.1109/ICRA.2018.8460896
• Denny, J. , Sandstrom, R. , & Amato, N.M. (2018). A General Region-Based Framework for Collaborative Planning. In Proc. Inter. Symp. on Robotics Research (ISRR 2015). Springer Proceedings in Advanced Robotics , 563--579. https://doi.org/10.1007/978-3-319-60916-4_32
• McMahon, T. , Sandstrom, R. , Thomas, S. , & Amato, N.M. (2017). Manipulation Planning with Directed Reachable Volumes. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) , 4026--4033. https://doi.org/10.1109/IROS.2017.8206257
• Ghosh, M. , Thomas, S. , Morales, M. , Rodriguez, S. , & Amato, A.N.M. (2016). Motion Planning using Hierarchical Aggregation of Workspace Obstacles. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) , 5716--5721. https://doi.org/10.1109/IROS.2016.7759841
• Denny, J. , Colbert, J. , Hongsen, Q. , & Amato, N.M. (2016). On the theory of user-guided planning. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 4794-4801. https://doi.org/10.1109/IROS.2016.7759704
• McMahon, T. (2016). Sampling Based Motion Planning with Reachable Volumes. Sampling Based Motion Planning with Reachable Volumes. View publication
• Ekenna, C.P. (2016). Improved Sampling Based Motion Planning Through Local Learning. Improved Sampling Based Motion Planning Through Local Learning. View publication
• Uwacu, D. , Ekenna, C. , Thomas, S. , & Amato, N. (2016). The Impact of Approximate Methods on Local Learning in Motion Planning. 1st International Workshop on Robot Learning and Planning (RLP 2016), in conjunction with RSS 2016. arXiv
• Ghosh, M. , Tomkins, D. , Denny, J. , Rodriguez, S. , Aguirre, M.M. , & Amato, N.M. (2015). Planning Motions for Shape-Memory Alloy Sheets. Origami. https://doi.org/10.1090/MBK/095.2/13
• Ekenna, C. , Uwacu, D. , Thomas, S. , & Amato, N. (2015). Studying Learning Techniques in Different Phases of PRM Construction. In Machine Learning in Planning and Control of Robot Motion Workshop (IROS-MLPC). https://doi.org/10.1109/IROS.2015.7353825
• Ekenna, C. , Uwacu, D. , Thomas, S. , & Amato, N. (2015). Improved Roadmap Connection via Local Learning for Sampling Based Planners. Proc. IEEE/RSJ Int. Conf. Intel. Rob. Syst. (IROS) , 3227-3234. https://doi.org/10.1109/IROS.2015.7353825
• Ekenna, C. , Uwacu, D. , Thomas, S. , & Amato, N. (2015). Improved Roadmap Connection via Local Learning for Sampling Based Planners. Proc. IEEE/RSJ Int. Conf. Intel. Rob. Syst. (IROS) , 3227-3234. https://doi.org/10.1109/IROS.2015.7353825
• McMahon, T. , Thomas, S.L. , & Amato, N.M. (2015). Reachable Volume RRT. 2015 IEEE International Conference on Robotics and Automation (ICRA) , 2977-2984. https://doi.org/10.1109/ICRA.2015.7139607
• McMahon, T. , Thomas, S.L. , & Amato, N.M. (2014). Sampling Based Motion Planning with Reachable Volumes: Application to Manipulators and Closed Chain Systems. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems , 3705-3712. https://doi.org/10.1109/IROS.2014.6943082
• Jacobs, S.A. & Amato, N.M. (2014). The anatomy of a distributed motion planning roadmap. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems , 3019-3026. https://doi.org/10.1109/IROS.2014.6942979
• Denny, J. , Sandstrom, R. , Julian, N. , & Amato, N.M. (2014). A Region-Based Strategy for Collaborative Roadmap Construction. Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics , 125--141. https://doi.org/10.1007/978-3-319-16595-0_8
• Yeh, H.(. , Denny, J. , Lindsey, A. , Thomas, S.L. , & Amato, N.M. (2014). UMAPRM: Uniformly Sampling the Medial Axis. 2014 IEEE International Conference on Robotics and Automation (ICRA) , 5798-5803. https://doi.org/10.1109/ICRA.2014.6907711
• Yeh, H.(. , Denny, J. , Lindsey, A. , Thomas, S.L. , & Amato, N.M. (2014). UMAPRM: Uniformly Sampling the Medial Axis. 2014 IEEE International Conference on Robotics and Automation (ICRA) , 5798-5803. https://doi.org/10.1109/ICRA.2014.6907711
• Shi, K. , Denny, J. , & Amato, N.M. (2014). Spark PRM: Using RRTs within PRMs to efficiently explore narrow passages. 2014 IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/ICRA.2014.6907540
• Shi, K. , Denny, J. , & Amato, N.M. (2014). Spark PRM: Using RRTs within PRMs to efficiently explore narrow passages. 2014 IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/ICRA.2014.6907540
• McMahon, T. , Thomas, S. , & Amato, N.M. (2014). Sampling-Based Motion Planning with Reachable Volumes: Theoretical Foundations. In Proc. IEEE International Conference on Robotics and Automation (ICRA) , 6514-6521. https://doi.org/10.1109/ICRA.2014.6907820
• Giese, A. , Latypov, D. , & Amato, N.M. (2014). Reciprocally-Rotating Velocity Obstacles. 2014 IEEE International Conference on Robotics and Automation (ICRA) , 3234-3241. https://doi.org/10.1109/ICRA.2014.6907324
• Denny, J. , Greco, E. , Thomas, S.L. , & Amato, N.M. (2014). MARRT: Medial Axis Biased Rapidly-Exploring Random Trees. 2014 IEEE International Conference on Robotics and Automation (ICRA) , 90-97. https://doi.org/10.1109/ICRA.2014.6906594
• Denny, J. , Greco, E. , Thomas, S.L. , & Amato, N.M. (2014). MARRT: Medial Axis Biased Rapidly-Exploring Random Trees. 2014 IEEE International Conference on Robotics and Automation (ICRA) , 90-97. https://doi.org/10.1109/ICRA.2014.6906594
• Jacobs, S.A. (2014). A Scalable Framework for Parallelizing Sampling-Based Motion Planning Algorithms. Doctoral Dissertation, Texas A&M University. View publication
• Fidel, A. , Jacobs, S.A. , Sharma, S. , Amato, N.M. , & Rauchwerger, L. (2014). Using Load Balancing to Scalably Parallelize Sampling-Based Motion Planning Algorithms. 2014 IEEE 28th International Parallel and Distributed Processing Symposium , 573-582. https://doi.org/10.1109/IPDPS.2014.66
• Agha-mohammadi, A. , Agarwal, S. , Mahadevan, A. , Chakravorty, S. , Tomkins, D. , Denny, J. , & Amato, N.M. (2014). Robust Online Belief Space Planning in Changing Environments: Application to Physical Mobile Robots. 2014 IEEE International Conference on Robotics and Automation (ICRA) , 149-156. https://doi.org/10.1109/ICRA.2014.6906602
• Ekenna, C. , Thomas, S. , & Amato, N.M. (2014). Adaptive Neighbor Connection using Node Characterization. N/A. View publication
• Denny, J. & Amato, N.M. (2013). Toggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimension. Algorithmic Foundations of Robotics X. Springer Tracts in Advanced Robotics (STAR). Presented at the 2012 Workshop on the Algorithmic Foundations of Robotics (WAFR). , 86 , 297-312. https://doi.org/10.1007/978-3-642-36279-8_18
• Rodriguez, C. , Denny, J. , Jacobs, S.A. , Thomas, S. , & Amato, N.M. (2013). Blind RRT: A Probabilistically Complete Distributed RRT. In. Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 1758-1765. https://doi.org/10.1109/IROS.2013.6696587
• Ekenna, C. , Jacobs, S.A. , Thomas, S. , & Amato, N.M. (2013). Adaptive Neighbor Connection for PRMs: A Natural Fit for Heterogeneous Environments and Parallelism. In. Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 1249-1256. https://doi.org/10.1109/IROS.2013.6696510
• Denny, J. , Morales, M. , Rodriguez, S. , & Amato, N.M. (2013). Adapting RRT Growth for Heterogeneous Environments. In. Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 1772-1778. https://doi.org/10.1109/IROS.2013.6696589
• Agha-mohammadi, A. , Chakravorty, S. , & Amato, N.M. (2013). FIRM: Sampling-based feedback motion-planning under motion uncertainty and imperfect measurements. International Journal of Robotics Research (ijrr) , 33(2) , 268-304. https://doi.org/10.1177/0278364913501564
• Thomas, S. , Tapia, L. , Ekenna, C. , Yeh, H.(. , & Amato, N.M. (2013). Rigidity Analysis for Protein Motion and Folding Core Identification. Association for the Advancement of Artificial Intelligence (AAAI) Workshop , WS-13-06 , 38-43. View publication
• Agha-mohammadi, A. , Chakravorty, S. , & Amato, N.M. (2013). Graph-based Stochastic Control with Constraints: A Unified Approach with Perfect and Imperfect Measurements. In. Proc. American Control Conference , 4581-4586. https://doi.org/10.1109/ACC.2013.6580545
• Jacobs, S.A. , Stradford, N. , Rodriguez, C. , Thomas, S. , & Amato, N.M. (2013). A scalable distributed RRT for motion planning. 2013 IEEE International Conference on Robotics and Automation , 5088-5095. https://doi.org/10.1109/ICRA.2013.6631304
• Denny, J. , Shi, K. , & Amato, A.N.M. (2013). Lazy Toggle PRM: A Single-Query Approach to Motion Planning. Proc. IEEE Int. Conf. on Robotics and Automation (ICRA). https://doi.org/10.1109/ICRA.2013.6630904
• Burgos, J. , Denny, J. , & Amato, N.M. (2013). Improving Roadmap Quality through Connected Component Expansion. Technical Report, TR13-003.
• Fidel, A. , Jacobs, S.A. , Sharma, S. , Rauchwerger, L. , & Amato, N.M. (2013). Load Balancing Techniques for Scalable Parallelization of Sampling-Based Motion Planning Algorithms. Technical Report, TR13-002 , Parasol Laboratory, Department of Computer Science, Texas A&M University.
• Yeh, H. , Thomas, S. , Eppstein, D. , & Amato, N.M. (2012). UOBPRM: A uniformly distributed obstacle-based PRM. IEEE/RSJ International Conference on Intelligent Robots and Systems , 2655-2662. https://doi.org/10.1109/IROS.2012.6385875
• Agha-mohammadi, A. , Chakravorty, S. , & Amato, N.M. (2012). Sampling-based nonholonomic motion planning in belief space via Dynamic Feedback Linearization-based FIRM. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 4433-4440. https://doi.org/10.1109/IROS.2012.6385970
• Jacobs, S.A. , Manavi, K. , Burgos, J. , Denny, J. , Thomas, S. , & Amato, N.M. (2012). A Scalable Method for Parallelizing Sampling-Based Motion Planning Algorithms. 2012 IEEE International Conference on Robotics and Automation , 2529-2536. https://doi.org/10.1109/ICRA.2012.6225334
• Denny, J. & Amato, N.M. (2012). The Toggle Local Planner for sampling-based motion planning. Proc. IEEE Int. Conf. Robot. Autom. (ICRA). https://doi.org/10.1109/ICRA.2012.6225212
• Agha-mohammadi, A. , Chakravorty, S. , & Amato, N.M. (2012). On the Probabilistic Completeness of the Sampling-based Feedback Motion Planners in Belief Space. IEEE International Conference on Robotics and Automation (ICRA) , 3983-3990. https://doi.org/10.1109/ICRA.2012.6225062
• Jacobs, S.A. & Amato, N.M. (2011). From Days to Seconds: Scalable Parallel Algorithms for Motion Planning. In ACM Student Research Compet, Conf. on High Performance Computing Networking, Storage and Analysis Companion Proceedings. View publication
• Denny, J. & Amato, N.M. (2011). Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D. Proc. IEEE/RSJ Int. Conf. Intel. Rob. Syst. (IROS) , 2632-2639. https://doi.org/10.1109/IROS.2011.6095102
• Agha-mohammadi, A. , Chakravorty, S. , & Amato, N.M. (2011). FIRM: Feedback controller-based information-state roadmap - A framework for motion planning under uncertainty. IEEE/RSJ International Conference on Intelligent Robots and Systems , 4284--4291. https://doi.org/10.1109/IROS.2011.6095010
• Rodriguez, S. , Denny, J. , Burgos, J. , Mahadevan, A. , Manavi, K. , Murray, L. , Kodochygov, A. , Zourntos, T. , & Amato, A.N.M. (2011). Toward Realistic Pursuit-Evasion Using a Roadmap-Based Approach. IEEE International Conference on Robotics and Automation , 1738--1745. https://doi.org/10.1109/ICRA.2011.5980467
• Rodriguez, S. & Amato, N.M. (2011). Utilizing Roadmaps in Evacuation Planning. The International Journal of Virtual Reality , 10(1) , 67--73. https://doi.org/https://doi.org/10.20870/IJVR.2011.10.1.2804
• Rodriguez, S. , Denny, J. , Mahadevan, A. , Vu, J. , Burgos, J. , Zourntos, T. , & Amato, A.N.M. (2011). Roadmap-Based Pursuit-Evasion in 3D Structures. International Conference on Computer Animation and Social Agents. View publication
• Rodriguez, A. , Denny, J. , Zourntos, T. , & Amato, N.M. (2010). Toward Simulating Realistic Pursuit-Evasion Using a Roadmap-Based Approach. International Conference on Motion in Games , 82--93. https://doi.org/https://doi.org/10.1007/978-3-642-16958-8_9
• Denny, J. , Agrawal, A. , Greco, E. , Tapia, L. , & Amato, N.M. (2010). Region Identification Methods for Efficient and Automated Motion Planning. N/A. View publication
• Tang, X. , Thomas, S. , Coleman, P. , & Amato, N.M. (2010). Reachable distance space: Efficient sampling-based planning for spatially constrained systems. The International Journal of Robotics Research , 29(7) , 916--934. https://doi.org/10.1177/0278364909357643
• Tang, X. , Thomas, S. , Coleman, P. , & Amato, N.M. (2010). Reachable distance space: Efficient sampling-based planning for spatially constrained systems. The International Journal of Robotics Research , 29(7) , 916--934. https://doi.org/10.1177/0278364909357643
• Rodriguez, S. & Amato, N.M. (2010). Behavior-Based Evacuation Planning. IEEE International Conference on Robotics and Automation , 350--355. https://doi.org/10.1109/ROBOT.2010.5509502
• Tapia, L. , Thomas, S. , & Amato, N.M. (2010). A Motion Planning Approach to Studying Molecular Motions. Communications in Information and Systems , 10 , 52-68. https://doi.org/10.4310/cis.2010.v10.n1.a4
• Xie, D. , Morales, M. , Pearce, R. , Thomas, S. , Lien, J. , & Amato, N.M. (2008). Incremental Map Generation (IMG). Algorithmic Foundation of Robotics VII , 53--68. https://doi.org/10.1007/978-3-540-68405-3_4
• Rodriguez, S. , Thomas, S. , Pearce, R. , & Amato, N.M. (2008). RESAMPL: A Region-Sensitive Adaptive Motion Planner. Algorithmic Foundation of Robotics VII , 285--300. https://doi.org/10.1007/978-3-540-68405-3_18
• Tapia, L. , Tang, X. , Thomas, S. , & Amato, N.M. (2007). Kinetics Analysis Methods for Approximate Folding Landscapes. Bioinformatics , 23(13) , i539--i548. https://doi.org/10.1093/bioinformatics/btm199
• Thomas, S. , Morales, M. , Tang, X. , & Amato, N.M. (2007). Biasing Samplers to Improve Motion Planning Performance. In Proc. IEEE International Conference on Robotics and Automation (ICRA) , 1625-1630. https://doi.org/10.1109/ROBOT.2007.363556
• Tang, X. , Thomas, S. , Tapia, L. , & Amato, N.M. (2007). Tools for Simulating and Analyzing RNA Folding Kinetics. In. Proc. International Conference on Research in Computational Molecular Biology , 268--282. https://doi.org/10.1007/978-3-540-71681-5_19
• Tang, X. , Thomas, S. , & Amato, N.M. (2007). Planning with Reachable Distances: Fast Enforcement of Closure Constraints. In Proc. IEEE International Conference on Robotics and Automation (ICRA) , 2694-2699. https://doi.org/10.1109/ROBOT.2007.363872
• Morales, M. , Pearce, R. , & Amato, N.M. (2007). Analysis of the Evolution of C-Space Models Built through Incremental Exploration. in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , 1029-1034. https://doi.org/10.1109/ROBOT.2007.363120
• Morales, M. , Pearce, R. , & Amato, N.M. (2007). Analysis of the Evolution of C-Space Models Built through Incremental Exploration. in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , 1029-1034. https://doi.org/10.1109/ROBOT.2007.363120
• Rodriguez, S. , Lien, J. , & Amato, N.M. (2006). Planning Motion in Completely Deformable Environments. In Proc. IEEE International Conference on Robotics and Automation (ICRA) , 2466-2471. https://doi.org/10.1109/ROBOT.2006.1642072
• Rodriguez, S. , Tang, X. , Lien, J. , & Amato, N.M. (2006). An Obstacle-Based Rapidly-Exploring Random Tree. In Proc. IEEE International Conference on Robotics and Automation (ICRA) , 895-900. https://doi.org/10.1109/ROBOT.2006.1641823
• Morales, M.A. , Pearce, R. , & Amato, N.M. (2006). Metrics for Analyzing the Evolution of C-Space Models. in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , 1268-1273. https://doi.org/10.1109/ROBOT.2006.1641883
• E., A.V. , Lien, J. , & Amato, N.M. (2006). VIZMO++: a visualization, authoring, and educational tool for motion planning. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA) , 727-732. https://doi.org/10.1109/ROBOT.2006.1641796
• Thomas, S. , Song, G. , & Amato, N.M. (2005). Protein Folding by Motion Planning. Physical Biology , 2(4) , S148--S155. https://doi.org/10.1088/1478-3975/2/4/S09
• Bayazit, O.B. , Xie, D. , & Amato, N.M. (2005). Iterative Relaxation of Constraints: A Framework for Improving Automated Motion Planning. In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS) , 3433-3440. https://doi.org/10.1109/IROS.2005.1545045
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