computational robotics

from tasks to motions

The research in our group aims to increase the ability of robots to plan and act on their own or provide assistance in human-machine cooperative tasks in complex domains. Applications targeted in our research include mobile robotics (ground, underwater, and aerial vehicles), robot manipulation, medical robotics, and hybrid systems. We have also conducted research in large-scale parallelization of sampling-based motion planning and nearest-neighbors computations, approximate methods for dimensionality reduction and nearest neighbors, and characterization of molecular motion. Follow the project pages for more information.

  • Combined Task and Motion Planning

     1. Regular Languages


     2. Linear Temporal Logic


     3. AI Planning Languages

  • Multi-Goal and Multi-Group Motion Planning

  • Integrating Temporal Reasoning

  • Autonomous Underwater Vehicles

    Enhancing Mission- and Motion-Planning Capabilities

  • Unmanned Aerial Vehicles

    Surveillance of Risk-Sensitive Areas

  • Robotic Manipulation

    Object Recognition from Haptic Exploration and Tactile Appearance Information

  • Distributed Computing

    Sampling-based Roadmap of Trees

    Nearest-Neighbors Graph

  • Hybrid Systems

    Automatic Discovery of Safety Violations

  • Proximity & Dimensionality Reduction

    Approximate Nearest Neighbors

    Characterization of Molecular Motion