Publications

Books

  1. H. Choset, W. Burgard, S. Hutchinson, G. Kantor, L. E. Kavraki, K. Lynch, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementation. MIT Press, 2005.
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  2. P. K. Agrawal, L. E. Kavraki, and M. Mason, Robotics: The Algorithmic Perspective. Natick MA: AK Peters, 1998.
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Journal Articles

  1. Muhayyuddin, M. Moll, L. E. Kavraki, and J. Rosell, “Randomized Physics-based Motion Planning for Grasping in Cluttered and Uncertain Environments,” IEEE Robotics and Automation Letters, 2018. Accepted for publication.
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  2. D. A. Antunes, M. Moll, D. Devaurs, K. R. Jackson, G. Lizée, and L. E. Kavraki, “DINC 2.0: a new protein-peptide docking webserver using an incremental approach,” Cancer Research, vol. 77, no. 21, pp. e55–57, Nov. 2017.
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  3. S. M. Kim, M. I. Peña, M. Moll, G. N. Bennett, and L. E. Kavraki, “A Review of Parameters and Heuristics for Guiding Metabolic Pathfinding,” Journal of Cheminformatics, vol. 9, no. 1, Sep. 2017.
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  4. D. Devaurs, D. A. Antunes, M. Papanastasiou, M. Moll, D. Ricklin, J. D. Lambris, and L. E. Kavraki, “Coarse-grained conformational sampling of protein structure improves the fit to experimental hydrogen-exchange data,” Frontiers in Molecular Biosciences, vol. 4, no. 13, 2017.
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  5. A. Novinskaya, D. Devaurs, M. Moll, and L. E. Kavraki, “Defining low-dimensional projections to guide protein conformational sampling,” Journal of Computational Biology, vol. 24, no. 1, pp. 79–89, 2017.
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  6. J. Bohg, M. Ciocarlie, J. Civera, and L. E. Kavraki, “Big Data on Robotics,” Big Data, vol. 4, no. 4, pp. 195–196, Dec. 2016.
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  7. N. T. Dantam, K. Bøndergaard, M. A. Johansson, T. Furuholm, and L. E. Kavraki, “Unix Philosophy and the Real World: Control Software for Humanoid Robots,” Frontiers in Robotics and Artificial Intelligence, vol. 3, Mar. 2016.
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  8. M. Moll, P. W. Finn, and L. E. Kavraki, “Structure-Guided Selection of Specificity Determining Positions in the Human Kinome,” BMC Genomics, 2016.
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  9. M. Lahijanian, M. R. Maly, D. Fried, L. E. Kavraki, H. Kress-Gazit, and M. Vardi, “Iterative Temporal Planning in Uncertain Environments with Partial Satisfaction Guarantees,” IEEE Transactions on Robotics, vol. 32, no. 3, pp. 583–599, 2016.
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  10. L. E. Kavraki and M. Moll, “Editorial: Special Issue on the 2014 ‘Robotics: Science & Systems’ Conference,” Intl. J. of Robotics Research, vol. 3–4, no. 1–3, 2016.
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  11. D. Devaurs, T. Siméon, and J. Cortés, “Optimal path planning in complex cost spaces with sampling-based algorithms,” IEEE Transactions on Automation Science and Engineering, vol. 13, no. 2, pp. 415–424, 2016.
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  12. L. E. Kavraki and M. Likhachev, “Editorial: Special Issue on the 2014 ‘Robotics: Science & Systems’ Conference,” Autonomous Robots, vol. 39, no. 3, 2015.
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  13. P. K. Mandal, P. Morlacchi, J. M. Knight, T. M. Link, G. R. Lee, R. Nurieva, D. Singh, A. Dhanik, L. E. Kavraki, D. B. Corry, J. E. Ladbury, and J. S. McMurray, “Targeting the Src homology 2 (SH2) domain of signal transducer and activator of transcription 6 (STAT6) with cell-permeable, phosphatase-stable phosphopeptide mimics potently inhibits Tyr641 phosphorylation and transcriptional activity,” Journal of Medicinal Chemistry, 2015.
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  14. D. A. Antunes, D. Devaurs, and L. E. Kavraki, “Understanding the challenges of protein flexibility in drug design,” Expert Opinion on Drug Discovery, vol. 10, no. 12, pp. 1301–1313, 2015.
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  15. M. Moll, I. A. Şucan, and L. E. Kavraki, “Benchmarking Motion Planning Algorithms: An Extensible Infrastructure for Analysis and Visualization,” IEEE Robotics & Automation Magazine (Special Issue on Replicable and Measurable Robotics Research), vol. 22, no. 3, pp. 96–102, 2015.
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  16. D. Devaurs, K. Molloy, M. Vaisset, A. Shehu, T. Siméon, and J. Cortés, “Characterizing energy landscapes of peptides using a combination of stochastic algorithms,” IEEE Transactions on NanoBioscience, vol. 14, no. 5, pp. 545–552, 2015.
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  17. D. K. Grady, M. Moll, and L. E. Kavraki, “Extending the Applicability of POMDP Solutions to Robotic Tasks,” IEEE Transactions on Robotics, vol. 31, no. 4, pp. 948–961, 2015.
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  18. D. H. Bryant, M. Moll, P. W. Finn, and L. E. Kavraki, “Combinatorial clustering of residue position subsets predicts inhibitor affinity across the human kinome,” PLoS Computational Biology, vol. 9, no. 6, p. e1003087, 2013.
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  19. A. Dhanik, J. McMurray, and L. E. Kavraki, “DINC: A new AutoDock-based protocol for docking large ligands,” BMC Structural Biology, vol. 13, no. Suppl 1, p. S11, 2013.
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  20. E. Plaku, L. E. Kavraki, and M. Y. Vardi, “Falsification of LTL safety properties in hybrid systems,” International Journal on Software Tools for Technology Transfer (STTT), vol. 15, no. 4, pp. 305–320, 2013.
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  21. B. Gipson, M. Moll, and L. E. Kavraki, “SIMS: A hybrid method for rapid conformational analysis,” PLOS ONE, vol. 8, no. 7, p. e68826, 2013.
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  22. M. Moll, J. Bordeaux, and L. E. Kavraki, “Software for Project-Based Learning of Robot Motion Planning,” Computer Science Education, Special Issue on Robotics in CS Education, vol. 23, no. 4, pp. 332–348, 2013.
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  23. I. A. Şucan, M. Moll, and L. E. Kavraki, “The Open Motion Planning Library,” IEEE Robotics & Automation Magazine, vol. 19, pp. 72–82, Dec. 2012. http://ompl.kavrakilab.org
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  24. A. Dhanik, J. S. McMurray, and L. E. Kavraki, “Binding Modes of Peptidomimetics Designed to Inhibit STAT3,” PLoS ONE, vol. 7(12), p. e51603, 2012.
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  25. B. Gipson, D. Hsu, L. E. Kavraki, and J.-C. Latombe, “Computational Models of Proteins Kinematics and Dynamics: Beyond Simulation,” Annual Reviews of Analytical Chemistry, vol. 5, pp. 273–291, 2012.
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  26. A. Shehu and L. E. Kavraki, “Modeling Structures and Motions of Loops in Protein Molecules,” Entropy, vol. 14, pp. 252–290, 2012.
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  27. A. Dhanik and L. E. Kavraki, “Protein-ligand interactions: computational docking,” eLS. John Wiley & Sons Ltd, 2012.
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  28. K. E. Bekris, D. K. Grady, M. Moll, and L. E. Kavraki, “Safe Distributed Motion Coordination for Second-Order Systems With Different Planning Cycles,” International Journal of Robotics Research, vol. 31, no. 2, pp. 129–150, 2012.
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  29. I. A. Sucan and L. E. Kavraki, “A Sampling-Based Tree Planner for Systems With Complex Dynamics,” IEEE Transactions on Robotics, vol. 28, no. 1, pp. 116–131, 2012.
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  30. A. P. Heath, G. N. Bennett, and L. E. Kavraki, “An Algorithm for Efficient Identification of Branched Metabolic Pathways,” Journal of Computational Biology, vol. 18, no. 11, pp. 1575–1597, Nov. 2011.
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  31. A. Bhatia, M. R. Maly, L. E. Kavraki, and M. Y. Vardi, “Motion Planning with Complex Goals,” Robotics Automation Magazine, IEEE, vol. 18, no. 3, pp. 55–64, Sep. 2011.
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  32. A. P. Heath, G. N. Bennett, and L. E. Kavraki, “Identifying Branched Metabolic Pathways by Merging Linear Metabolic Pathways,” 15th Annual International Conference on Research in Computational Molecular Biology (RECOMB), vol. 6577/2011, pp. 70–84, 2011.
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  33. M. Moll, D. H. Bryant, and L. E. Kavraki, “The LabelHash Server and Tools for Substructure-Based Functional Annotation,” Bioinformatics, vol. 27, no. 15, pp. 2161–2162, 2011.
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  34. H. Stamati, C. Clementi, and L. E. Kavraki, “Application of nonlinear dimensionality reduction to characterize the conformational landscape of small peptides,” Proteins, vol. 78, no. 2, pp. 223–235, Jul. 2010.
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  35. D. H. Bryant, M. Moll, B. Y. Chen, V. Y. Fofanov, and L. E. Kavraki, “Analysis of substructural variation in families of enzymatic proteins with applications to protein function prediction,” BMC Bioinformatics, vol. 11, no. 242, p. 242, 2010.
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  36. A. P. Heath, G. N. Bennett, and L. E. Kavraki, “Finding Metabolic Pathways Using Atom Tracking,” Bioinformatics, vol. 26, no. 12, pp. 1548–1555, 2010.
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  37. M. Moll, D. H. Bryant, and L. E. Kavraki, “The LabelHash Algorithm for Substructure Matching,” BMC Bioinformatics, vol. 11, p. 555, 2010.
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  38. E. Plaku, L. E. Kavraki, and M. Y. Vardi, “Motion Planning with Dynamics by a Synergistic Combination of Layers of Planning,” IEEE Transactions on Robotics, vol. 26, no. 3, pp. 469–482 , 2010.
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  39. M. Moll, J. Bordeaux, and L. E. Kavraki, “Teaching Robot Motion Planning,” Computers in Education (Special Issue on Novel Approaches to Robotics Education), vol. 20, no. 3, pp. 50–59, 2010.
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  40. N. Haspel, M. Moll, M. L. Baker, W. Chiu, and L. E. Kavraki, “Tracing conformational changes in proteins,” BMC Structural Biology, vol. 10, no. Suppl. 1, p. S1, 2010.
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  41. A. P. Heath and L. E. Kavraki, “Computational Challenges in Systems Biology,” Computer Science Review, vol. 3, no. 1, pp. 1–17, 2009.
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  42. E. Plaku, L. E. Kavraki, and M. Y. Vardi, “Hybrid systems: from verification to falsification by combining motion planning and discrete search,” Formal Methods in System Design, vol. 34, pp. 157–182, 2009.
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  43. A. Shehu, L. E. Kavraki, and C. Clementi, “Multiscale characterization of protein conformational ensembles,” Proteins, vol. 76, no. 4, pp. 837–851, 2009.
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  44. N. Haspel, B. Geisbrecht, J. D. Lambris, and L. E. Kavraki, “Multi-scale Characterization of the Energy Landscape of Proteins with Application to the C3d/Efb-C Complex,” Proteins: Structure, function and bioinformatics, vol. 78, no. 4, pp. 1004–1014, 2009.
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  45. K. E. Bekris, K. I. Tsianos, and L. E. Kavraki, “Safe and Distributed Kinodynamic Replanning for Vehicular networks,” ACM/Springer Mobile Networks and Applications (MONET), vol. 14, no. 3, pp. 292–308, 2009.
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  46. A. P. Heath, G. Balázsi, and L. E. Kavraki, “Bipolarity of the saccharomyces cerevisiae genome,” International Conference on Bioinformatics and Biomedical Engineering (iCBBE), pp. 330–333, 2008.
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  47. N. Haspel, D. Ricklin, B. Geisbrecht, J. D. Lambris, and L. E. Kavraki, “Electrostatic Contributions Drive the Interaction Between Staphylococcus aureus Protein Efb-C and its Complement Target C3d.,” Protein Science, vol. 17(11), pp. 1894–1906, 2008.
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  48. D. M. Kristensen, M. R. Ward, A. M. Lisewski, S. Edrin, B. Y. Chen, V. Y. Fofanov, M. Kimmel, L. E. Kavraki, and O. Lichtarge, “Prediction of enzyme function based on 3D templates of evolutionarily important amino acids,” BMC Bioinformatics, vol. 9, 2008.
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  49. M. Moll and D. Rus, “Special Issue on Self-Reconfiguring Modular Robots (Guest Editorial),” Intl. J. of Robotics Research, vol. 27, pp. 277–278, 2008.
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  50. A. Shehu, L. E. Kavraki, and C. Clementi, “Unfolding the Fold of Cyclic Cysteine-rich Peptides,” Protein Science, vol. 17, pp. 482–493, 2008.
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  51. A. P. Heath, L. E. Kavraki, and C. Clementi, “From coarse-grain to all-atom: Toward multiscale analysis of protein landscapes,” Proteins: Structure, Function and Bioinformatics, vol. 68, no. 3, pp. 646–661, Aug. 2007.
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  52. K. I. Tsianos, I. A. Sucan, and L. E. Kavraki, “Sampling-based robot motion planning: Towards realistic applications,” Computer Science Review, vol. 1, pp. 2–11, Aug. 2007.
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  53. M. Yim, W.-M. Shen, B. Salemi, D. Rus, M. Moll, H. Lipson, and E. Klavins, “Modular Self-reconfigurable Robot Systems: Challenges and Opportunities for the Future,” IEEE Robotics & Automation Magazine, vol. 14, no. 1, Mar. 2007.
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  54. B. Y. Chen, D. H. Bryant, V. Y. Fofanov, D. M. Kristensen, A. E. Cruess, M. Kimmel, O. Lichtarge, and L. E. Kavraki, “Cavity Scaling: Automated Refinement of Cavity-Aware Motifs in Protein Function Prediction,” Journal of Bioinformatics and Computational Biology, vol. 5, no. 2a, pp. 353–382, 2007.
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  55. A. Shehu, L. E. Kavraki, and C. Clementi, “On the Characterization of Protein Native State Ensembles,” Biophysical Journal, vol. 92, no. 5, pp. 1503–1511, 2007.
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  56. E. Plaku and L. E. Kavraki, “Distributed Computation of the KNN Graph for Large High-Dimensional Point Sets,” Journal of Parallel and Distributed Computing, vol. 67, no. 3, pp. 346–359, 2007.
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  57. E. Plaku, H. Stamati, C. Clementi, and L. E. Kavraki, “Fast and Reliable Analysis of Molecular Motion Using Proximity Relations and Dimensionality Reduction,” Proteins: Structure, Function, and Bioinformatics, vol. 67, no. 4, pp. 897–907, 2007.
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  58. B. Y. Chen, V. Y. Fofanov, D. H. Bryant, B. D. Dodson, D. M. Kristensen, A. M. Lisewski, M. Kimmel, O. Lichtarge, and L. E. Kavraki, “The MASH Pipeline for Protein Function Prediction and an Algorithm for the Geometric Refinement of 3D Motifs,” Journal of Computational Biology, vol. 14, no. 6, pp. 791–816, 2007.
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  59. A. Shehu, C. Clementi, and L. E. Kavraki, “Sampling Conformation Space to Model Equilibrium Fluctuations in Proteins,” Algorithmica, vol. 48, pp. 303–327, 2007.
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  60. M. Moll and L. E. Kavraki, “Path Planning for Deformable Linear Objects,” IEEE Transactions on Robotics, vol. 22, no. 4, pp. 625–636, Aug. 2006.
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  61. P. Das, M. Moll, H. Stamati, L. E. Kavraki, and C. Clementi, “Low-dimensional Free-energy Landscapes of Protein-Folding Reactions by Nonlinear Dimensionality Reduction,” Proceedings of the National Academy of Sciences, vol. 103, no. 26, pp. 9885–9890, Jun. 2006.
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  62. A. Shehu, C. Clementi, and L. E. Kavraki, “Modeling Protein Conformational Ensembles: From Missing Loops to Equilibrium Fluctuations,” Proteins: Structure, Function and Bioinformatics, vol. 65, no. 1, pp. 164–179, 2006.
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  63. D. M. Kristensen, B. Y. Chen, V. Y. Fofanov, M. R. Ward, A. M. Lisewski, M. Kimmel, L. E. Kavraki, and O. Lichtarge, “Recurrent Use of Evolutionary Importance for Functional Annotation of Proteins Based on Local Structural Similarity,” Protein Science, vol. 15, no. 6, pp. 1530–1536, 2006.
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  64. A. M. Ladd, K. E. Bekris, A. Rudys, G. Marceau, L. E. Kavraki, and D. S. Wallach, “Robotics-Based Location Sensing using Wireless Ethernet (Invited),” Wireless Networks (The Journal of Mobile Communication, Computation and Information), vol. 11, no. 1-2, pp. 189–204, Jan. 2005.
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  65. M. Zhang, R. A. White, L. Wang, R. Goldman, L. E. Kavraki, and B. Hassett, “Improving Conformational Searches by Geometric Screening,” Bioinformatics, vol. 21, no. 5, pp. 624–630, 2005.
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  66. A. A. Argyros, K. E. Bekris, S. C. Orphanoudakis, and L. E. Kavraki, “Robot Homing by Exploiting Panoramic Vision,” Autonomous Robots, vol. 19, no. 1, pp. 7–25, 2005.
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  67. E. Plaku, K. E. Bekris, B. Y. Chen, A. M. Ladd, and L. E. Kavraki, “Sampling-Based Roadmap of Trees for Parallel Motion Planning,” IEEE Transactions on Robotics, vol. 21, no. 4, pp. 597–608, 2005.
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  68. A. M. Ladd, K. E. Bekris, A. Rudys, L. E. Kavraki, and D. S. Wallach, “On the Feasibility of Using Wireless Ethernet for Indoor Localization,” IEEE Transactions on Robotics and Automation, vol. 20, no. 3, pp. 555–559, Jun. 2004.
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  69. A. M. Ladd and L. E. Kavraki, “Measure Theoretic Analysis of Probabilistic Path Planning,” IEEE Transactions on Robotics and Automation, vol. 20, no. 2, pp. 229–242, Apr. 2004.
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  70. M. Moll, D. Schwarz, A. P. Heath, and L. E. Kavraki, “On Flexible Docking Using Expansive Search,” no. 04-443, 2004.
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  71. A. M. Ladd and L. E. Kavraki, “Using Motion Planning for Knot Untangling,” International Journal of Robotics Research, vol. 23, no. 7-8, pp. 797–808, 2004.
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  72. H. Yao, D. M. Kristensen, I. Mihalek, M. Sowa, C. Shaw, M. Kimmel, L. E. Kavraki, and O. Lichtarge, “An Accurate, Sensitive, and Scalable Method to Identify Functional Sites in Protein Structures,” Journal of Molecular Biology, vol. 326, no. 1, pp. 255–261, 2003.
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  73. M. L. Teodoro and L. E. Kavraki, “Conformational Flexibility Models for the Receptor in Structure Based Drug Design,” Current Pharmaceutical Design, vol. 9, pp. 1419–1431, 2003.
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  74. M. L. Teodoro, G. N. P. Jr., and L. E. Kavraki, “Understanding Protein Flexibility through Dimensionality Reduction,” The Journal of Computational Biology, vol. 10, no. 3-4, pp. 617–634, 2003.
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  75. M. Moll and M. A. Erdmann, “Manipulation of Pose Distributions,” Intl. J. of Robotics Research, vol. 21, no. 3, pp. 277–292, Mar. 2002.
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  76. M. Moll, K. Y. Goldberg, M. A. Erdmann, and R. S. Fearing, “Aligning Parts for Micro Assemblies,” Assembly Automation, vol. 22, no. 1, pp. 46–54, Feb. 2002.
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  77. P. K. Agrawal, L. J. Guibas, H. Edelsbrunner, J. Erickson, M. Isard, S. Har-Peled, J. Hershberger, C. Jensen, L. E. Kavraki, P. Koehl, M. Lin, D. Manocha, D. Metaxas, B. Mirtich, D. Mount, and S. Muthukrishnan, “Algorithmic Issues in Modeling Motion,” ACM Computing Surveys, vol. 34, no. 4, pp. 550–572, 2002.
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  78. M. Zhang and L. E. Kavraki, “A New Method for Fast and Accurate Derivation of Molecular Conformations,” Journal of Chemical Information and Computer Sciences, vol. 42, no. 1, pp. 64–70, 2002.
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  79. F. Lamiraux and L. E. Kavraki, “Planning Paths for Elastic Objects under Manipulation Constraints,” International Journal of Robotics Research, vol. 20, no. 3, pp. 188–208, 2001.
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  80. F. Lamiraux and L. E. Kavraki, “Positioning of Symmetric and Non-Symmetric Parts Using Radial and Constant Fields: Computation of All Equilibrium Configurations,” International Journal of Robotics Research, vol. 20, no. 8, pp. 635–659, 2001.
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  81. J. Yakey, S. M. LaValle, and L. E. Kavraki, “Randomized Path Planning for Linkages with Closed Kinematics Chains,” IEEE Transactions on Robotics and Automation, vol. 17, no. 6, pp. 951–959, 2001.
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  82. M. Moll and M. A. Erdmann, “Shape Reconstruction in a Planar Dynamic Environment,” no. CMU-CS-01-, 2001.
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  83. K.-F. Bohringer, B. R. Donald, L. E. Kavraki, and F. Lamiraux, “Part Orientation with One or Two Stable Equilibria Using Programmable Vector Fields,” IEEE Transactions on Robotics and Automation, vol. 16, no. 2, pp. 157–170, 2000.
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  84. S. M. LaValle, P. W. Finn, L. E. Kavraki, and J.-C. Latombe, “A Randomized Kinematics-based Approach to Pharmacophore-Constrained Conformational Search and Database Screening,” Journal of Computational Chemistry, vol. 21, no. 9, pp. 731–747, 2000.
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  85. P. W. Finn and L. E. Kavraki, “Computational Approaches to Drug Design,” Algorithmica, vol. 25, pp. 347–371, 1999.
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  86. L. E. Kavraki, J.-C. Latombe, R. Motwani, and P. Raghavan, “Randomized Query Processing in Robot Path Planning,” Journal of Computer and System Sciences, vol. 57, no. 1, pp. 50–60, Aug. 1998.
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  87. L. E. Kavraki, M. N. Kolountzakis, and J.-C. Latombe, “Analysis of Probabilistic Roadmaps for Path Planning,” IEEE Transactions on Robotics and Automation, vol. 14, no. 1, pp. 166–171, 1998.
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  88. P. W. Finn, L. E. Kavraki, J.-C. Latombe, C. Shelton, S. Venkat, and A. Yao, “RAPID: Randomized Pharmacophore Identification for drug design,” Computational Geometry: Theory and Applications, vol. 10, no. 4, pp. 263–272, 1998.
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  89. M. Moll and R. Miikkulainen, “Convergence-Zone Episodic Memory: Analysis and Simulations,” Neural Networks, vol. 10, no. 6, pp. 1017–1036, 1997.
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  90. B. Barraquand, L. E. Kavraki, J.-C. Latombe, T.-Y. Li, R. Motwani, and P. Raghavan, “A Random Sampling Scheme for Robot Path Planning,” International Journal of Robotics Research, vol. 16, no. 6, pp. 759–774, 1997.
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  91. H. Ter Doest, M. Moll, R. Bos, S. Van de Burgt, and A. Nijholt, “Language Engineering in Dialogue Systems,” no. 96-2, Jan. 1996.
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  92. L. E. Kavraki, P. Svestka, J.-C. Latombe, and M. Overmars, “Probabilistic Roadmaps for Path Planning in High Dimensional Configuration Spaces,” IEEE Transactions on Robotics and Automation, vol. 12, no. 4, pp. 566–580, 1996.
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  93. L. E. Kavraki, “Computation of Configuration Space Obstacles Using the Fast Fourier Transform,” IEEE Transactions on Robotics and Automation, vol. 11, no. 3, pp. 408–413, 1995.
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  94. L. E. Kavraki, “On the Number of Equilibrium Placements of Mass Distributions in Elliptic Potential Fields,” no. 1559, 1995.
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  95. R. Op den Akker, H. Ter Doest, M. Moll, and A. Nijholt, “Parsing in Dialogue Systems using Typed Feature Structures,” no. 95-25, 1995.
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  96. L. E. Kavraki and M. N. Kolountzakis, “Partitioning an Assembly into Connected Parts is NP-hard,” Information Processing Letters, vol. 55, pp. 159–165, 1995.
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  97. R. H. Wilson, L. E. Kavraki, J.-C. Latombe, and T. Lozano-Perez, “Two-Handed Assembly Sequencing,” International Journal of Robotics Research, vol. 14, no. 4, pp. 335–350, 1995.
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  98. L. E. Kavraki, J.-C. Latombe, and R. H. Wilson, “On the Complexity of Assembly Partitioning,” Information Processing Letters, vol. 48, no. 5, pp. 229–235, 1993.
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Book Chapters

  1. D. Halperin, L. E. Kavraki, and K. Solovey, “Robotics,” in Handbook of Discrete and Computational Geometry, J. E. Goodman, J. O’Rourke, and C. D. Tóth, Eds. Boca Raton, NY: CRC Press, 2017.
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  2. L. E. Kavraki and S. M. LaValle, “Motion Planning,” in Handbook of Robotics, 2nd Edition, Springer, 2016.
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  3. D. K. Grady, K. E. Bekris, and L. E. Kavraki, “Asynchronous Distributed Motion Planning with Safety Guarantees under Second-Order Dynamics,” in Algorithmic Foundations of Robotics IX, vol. 68, Singapore, Singapore: Springer Berlin / Heidelberg, 2011, pp. 53–70. 10.1007/978-3-642-17452-0_4
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  4. K. I. Tsianos, D. Halperin, L. E. Kavraki, and J.-C. Latombe, “Robot Algorithms,” in Algorithms and Theory of Computation Handbook, Second., vol. 2, Boca Raton, FL: CRC Press, 2008.
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  5. M. Moll, D. Schwarz, and L. E. Kavraki, “Roadmap Methods for Protein Folding,” in Protein Structure Prediction: Methods and Protocols, Humana Press, 2007.
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  6. E. Plaku, L. E. Kavraki, and M. Y. Vardi, “Hybrid Systems: From Verification to Falsification,” in International Conference on Computer Aided Verification (CAV), vol. 4590, Berlin, Germany: Lecture Notes in Computer Science, Springer-Verlag Heidelberg, 2007, pp. 468–481.
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  7. D. Schwarz and L. E. Kavraki, “Protein-Ligand Interactions: Computational Docking,” in Encyclopedia of Life Sciences, Wiley, 2007, pp. Article #A4105.
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  8. K. E. Bekris, A. A. Argyros, and L. E. Kavraki, “Exploiting Panoramic Vision for Angle-Based Robot Navigation,” in Lecture Notes in Computer Science, Vol. 33, Springer, 2006, pp. 229–251.
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  9. A. M. Ladd and L. E. Kavraki, “Fast Tree-Based Exploration of State Space for Robots with Dynamics,” in Algorithmic Foundations of Robotics VI, Springer, STAR 17, 2005, pp. 297–312.
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  10. M. Akinc, K. E. Bekris, B. Y. Chen, A. M. Ladd, E. Plaku, and L. E. Kavraki, “Probabilistic Roadmaps of Trees for Parallel Computation of Multiple Query Roadmaps,” in Robotic Research: The Eleventh International Symposium, Springer, STAR 15, 2005, pp. 80–89.
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  11. A. M. Ladd and L. E. Kavraki, “Motion Planning for Knot Untangling,” in Algorithmic Foundations of Robotics V, Springer Tracks in Advanced Robotics, Springer Verlag, STAR 7, 2004, pp. 7–23.
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  12. D. Halperin, L. E. Kavraki, and J.-C. Latombe, “Robotics,” in Handbook of Discrete and Computational Geometry, Boca Raton, NY: CRC Press, 2004, pp. 1065–1094.
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  13. M. Moll and M. A. Erdmann, “Reconstructing the Shape and Motion of Unknown Objects,” in Algorithmic Foundations of Robotics V, Springer, 2003, pp. 293–310.
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  14. M. L. Teodoro and L. E. Kavraki, “Pharmacology,” in Handbook of Data Mining and Knowledge Discovery, Oxford University Press, 2002, pp. 808–816.
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  15. M. Moll and M. A. Erdmann, “Manipulation of Pose Distributions,” in Algorithmic and Computational Robotics: New Directions, A. K. Peters, 2001, pp. 127–141.
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  16. R. Bohlin and L. E. Kavraki, “A Randomized Algorithm for Robot Path Planning Based on Lazy Evaluation,” in Handbook on Randomized Computing, Kluwer Academic Publishers, 2001, pp. 221–249.
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  17. K.-F. Bohringer, B. R. Donald, L. E. Kavraki, and F. Lamiraux, “A Distributed, Universal Device for Planar Parts Feeding: Unique Part Orientation in Programmable Vector Fields,” in Distributed Manipulation, Kluwer Academic Publishers, 2000, pp. 1–29.
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  18. L. E. Kavraki, “Algorithms in Robotics: The Motion Planning Perspective,” in Frontiers of Engineering Publication, National Academy of Engineering, 1999, pp. 90–93.
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  19. D. Hsu, L. E. Kavraki, J.-C. Latombe, R. Motwani, and J. Rolim, “Capturing the Connectivity of High-Dimensional Geometric Spaces by Parallelizable Random Sampling Techniques,” in Parallel and Distributed Processing, vol. 1388, Springer Verlag Lecture Notes in Computer Science, 1999, pp. 330–340.
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  20. D. Halperin, L. E. Kavraki, J.-C. Latombe, and M. Attalah, “Robot Algorithms,” in Algorithms and Theory of Computation Handbook, Boca Raton, NY: CRC Press, 1999.
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  21. K.-F. Bohringer, B. R. Donald, L. E. Kavraki, and F. Lamiraux, “A Single Universal Force Field can Uniquely Orient Non-Symmetric Parts,” in Robotics Research: The 9th International Symposium, Springer, 1999, pp. 395–402.
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  22. D. Hsu, L. E. Kavraki, J.-C. Latombe, R. Motwani, and S. Sorkin, “On Finding Narrow Passages with Probabilistic Roadmap Planners,” in Robotics: The algorithmic perspective, Natick, MA: A.K. Peters, 1998, pp. 141–153.
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  23. L. E. Kavraki and J.-C. Latombe, “Probabilistic Roadmaps for Robot Path Planning,” in Practical Motion Planning in Robotics: Current Approaches and Future Directions, John Wiley, 1998, pp. 33–53.
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  24. L. E. Kavraki, “Geometry and the Discovery of New Ligands,” in Algorithms for Robotic Motion and Manipulation (WAFR 1996), A.K. Peters, 1997, pp. 435–448.
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  25. D. Halperin, L. E. Kavraki, and J.-C. Latombe, “Robotics,” in Handbook of Discrete and Computational Geometry, Boca Raton, NY: CRC Press, 1997, pp. 755–779.
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Conference Articles

  1. K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Reactive Synthesis For Finite Tasks Under Resource Constraints,” in 2017 IEEE/RSJ Intl. Conf. Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 5326–5332.
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  2. Z. Kingston, M. Moll, and L. Kavraki, “Decoupling Constraints from Sampling-Based Planners,” in International Symposium of Robotics Research, Puerto Varas, Chile, 2017. To Appear
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  3. W. Baker, Z. Kingston, M. Moll, J. Badger, and L. Kavraki, “Robonaut 2 and You: Specifying and Executing Complex Operations,” in IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), Austin, TX, 2017.
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  4. S. Butler, M. Moll, and L. E. Kavraki, “A General Algorithm for Time-Optimal Trajectory Generation Subject to Minimum and Maximum Constraints,” in Workshop on the Algorithmic Foundations of Robotics, 2016.
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  5. D. Devaurs, M. Papanastasiou, D. A. Antunes, J. R. Abella, M. Moll, D. Ricklin, J. D. Lambris, and L. E. Kavraki, “Native state of complement protein C3d analysed via hydrogen exchange and conformational sampling,” in International Conference on Intelligent Biology and Medicine (ICIBM), 2016.
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  6. S. M. Kim, M. I. Peña, M. Moll, G. Giannakopoulos, G. N. Bennett, and L. E. Kavraki, “An Evaluation of Different Clustering Methods and Distance Measures Used for Grouping Metabolic Pathways,” in Eighth International Conference on Bioinformatics and Computational Biology (BICoB), 2016, pp. 115–122.
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  7. J. D. Hernández, M. Moll, E. Vidal Garcia, M. Carreras, and L. E. Kavraki, “Planning Feasible and Safe Paths Online for Autonomous Underwater Vehicles in Unknown Environments,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, 2016, pp. 1313–1320.
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  8. N. T. Dantam, Z. K. Kingston, S. Chaudhuri, and L. E. Kavraki, “Incremental Task and Motion Planning: A Constraint-Based Approach,” in Robotics: Science and Systems, 2016.
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  9. Y. Wang, N. T. Dantam, S. Chaudhuri, and L. E. Kavraki, “Task and Motion Policy Synthesis as Liveness Games,” in International Conference on Automated Planning and Scheduling, 2016, pp. 536–540.
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  10. F. T. Pokorny, D. Kragic, L. E. Kavraki, and K. Goldberg, “High-Dimensional Winding-Augmented Motion Planning with 2D Topological Task Projections and Persistent Homology,” in Proc. IEEE Intl. Conf. on Robotics and Automation, 2016, pp. 24–31.
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  11. S. M. Kim, M. I. Peña, M. Moll, G. Giannakopoulos, G. N. Bennett, and L. E. Kavraki, “An Evaluation of Different Clustering Methods and Distance Measures Used for Grouping Metabolic Pathways,” in Eighth International Conference on Bioinformatics and Computational Biology (BICoB), 2016.
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  12. A. Novinskaya, D. Devaurs, M. Moll, and L. E. Kavraki, “Improving protein conformational sampling by using guiding projections,” in IEEE International Conference on Bioinformatics and Biomedicine Workshops (BIBMW), 2015, pp. 1272–1279.
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  13. M. Moll, P. W. Finn, and L. E. Kavraki, “Structure-Guided Selection of Specificity Determining Positions in the Human Kinome,” in IEEE International Conference on Bioinformatics and Biomedicine (BIBM), 2015, pp. 21–28.
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  14. K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Towards Manipulation Planning with Temporal Logic Specifications,” in 2015 IEEE Intl. Conf. Robotics and Automation (ICRA), Seattle, WA, 2015, pp. 346–352.
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  15. M. Lahijanian, S. Almagor, D. Fried, L. E. Kavraki, and M. Y. Vardi, “This Time the Robot Settles for a Cost: A Quantitative Approach to Temporal Logic Planning with Partial Satisfaction,” in The Twenty-Ninth AAAI Conference (AAAI-15), Austin, TX, 2015, pp. 3664–3671.
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  16. Z. Kingston, N. Dantam, and L. Kavraki, “Kinematically constrained workspace control via linear optimization,” in IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, pp. 758–764.
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  17. D. Coleman, I. A. Şucan, M. Moll, K. Okada, and N. Correll, “Experience-Based Planning with Sparse Roadmap Spanners,” in IEEE Intl. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 900–905.
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  18. C. Voss, M. Moll, and L. E. Kavraki, “A Heuristic Approach to Finding Diverse Short Paths,” in IEEE Intl. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 4173–4179.
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  19. R. Luna, M. Lahijanian, M. Moll, and L. E. Kavraki, “Optimal and Efficient Stochastic Motion Planning in Partially-Known Environments,” in The Twenty-Eighth AAAI Conference on Artificial Intelligence, Quebec City, Canada, 2014, pp. 2549–2555.
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  20. R. Luna, M. Lahijanian, M. Moll, and L. E. Kavraki, “Fast Stochastic Motion Planning with Optimality Guarantees using Local Policy Reconfiguration,” in IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014, pp. 3013–3019.
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  21. R. Luna, M. Lahijanian, M. Moll, and L. E. Kavraki, “Asymptotically Optimal Stochastic Motion Planning with Temporal Goals,” in Workshop on the Algorithmic Foundations of Robotics, Istanbul, Turkey, 2014.
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  22. Z. Wang, Z. Wang, M. Moll, P.-S. Huang, D. K. Grady, N. Nasrabadi, T. Huang, L. E. Kavraki, and M. Hasegawa-Johnson, “Active Planning, Sensing and Recognition Using a Resource-Constrained Discriminant POMDP,” in IEEE/ISPRS Workshop on Multi-Sensor Fusion for Outdoor Dynamic Scene Understanding at CVPR, 2014.
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  23. M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “A Sampling-Based Strategy Planner for Nondeterministic Hybrid Systems,” in International Conference on Robotics and Automation, Hong Kong, China, 2014, pp. 3005–3012.
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  24. S. Nedunuri, S. Prabhu, M. Moll, S. Chaudhuri, and L. E. Kavraki, “ SMT-Based Synthesis of Integrated Task and Motion Plans for Mobile Manipulation,” in IEEE Intl. Conf. on Robotics and Automation, 2014, pp. 655–662.
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  25. D. K. Grady, M. Moll, and L. E. Kavraki, “Combining a POMDP Abstraction with Replanning to Solve Complex, Position-Dependent Sensing Tasks,” in AAAI Fall Symposium, Arlington, Virginia, 2013.
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  26. R. Luna, I. A. Şucan, M. Moll, and L. E. Kavraki, “Anytime Solution Optimization for Sampling-Based Motion Planning,” in IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013, pp. 5053–5059.
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  27. D. K. Grady, M. Moll, and L. E. Kavraki, “Automated Model Approximation for Robotic Navigation with POMDPs,” in IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013, pp. 78–84.
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  28. J. Chyan, M. Moll, and L. E. Kavraki, “Improving the Prediction of Kinase Binding Affinity Using Homology Models,” in Computational Structural Bioinformatics Workshop at the ACM Conf. on Bioinf., Comp. Bio. and Biomedical Informatics, Washington, DC, 2013.
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  29. M. R. Maly, M. Lahijanian, L. E. Kavraki, H. Kress-Gazit, and M. Y. Vardi, “Iterative Temporal Motion Planning for Hybrid Systems in Partially Unknown Environments,” in ACM International Conference on Hybrid Systems: Computation and Control (HSCC), Philadelphia, PA, USA, 2013, pp. 353–362.
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  30. B. Gipson, M. Moll, and L. E. Kavraki, “Resolution Independent Density Estimation for Motion Planning in High-Dimensional Spaces,” in IEEE International Conference on Robotics and Automation, 2013, pp. 2429–2435.
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  31. M. R. Maly and L. E. Kavraki, “Low-Dimensional Projections for SyCLoP,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012, pp. 420–425.
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  32. I. A. Sucan and L. E. Kavraki, “Accounting for Uncertainty in Simultaneous Task and Motion Planning Using Task Motion Multigraphs,” in IEEE International Conference on Robotics and Automation, St. Paul, 2012, pp. 4822–4828.
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  33. A. Dhanik, J. S. McMurray, and L. E. Kavraki, “AUTODOCK-based Incremental Docking Protocol to Improve Docking of Large Ligands,” in IEEE International Conference on Bioinformatics and Biomedicine Workshops (BIBMW), Philadelphia, 2012, pp. 48–55.
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  34. D. K. Grady, M. Moll, C. Hegde, A. C. Sankaranarayanan, R. G. Baraniuk, and L. E. Kavraki, “Multi-Objective Sensor-Based Replanning for a Car-Like Robot,” in IEEE International Symposium on Safety, Security, and Rescue Robotics, College Station, TX, 2012, pp. 1–6.
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  35. D. K. Grady, M. Moll, C. Hegde, A. C. Sankaranarayanan, R. G. Baraniuk, and L. E. Kavraki, “Multi-Robot Target Verification with Reachability Constraints,” in IEEE International Symposium on Safety, Security, and Rescue Robotics, College Station, TX, 2012, pp. 1–6.
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  36. I. A. Sucan and L. E. Kavraki, “On the Advantages of Using Task Motion Multigraphs for Efficient Mobile Manipulation,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 4621–4626.
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  37. D. K. Grady, M. Moll, C. Hegde, A. C. Sankaranarayanan, R. G. Baraniuk, and L. E. Kavraki, “Look Before You Leap: Predictive Sensing and Opportunistic Navigation,” in Workshop on Progress and Open Problems in Motion Planning at the IEEE/RSJ Conf. on Intelligent Robots and Systems, San Francisco, 2011.
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  38. I. A. Sucan and L. E. Kavraki, “Mobile Manipulation: Encoding Motion Planning Options Using Task Motion Multigraphs,” in IEEE International Conference on Robotics and Automation, Shanghai, China, 2011, pp. 5492–5498.
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  39. A. Dhanik, J. S. McMurray, and L. E. Kavraki, “On modeling peptidomimetics in complex with the SH2 domain of Stat3,” in 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC ’11), Boston, Massachusetts, USA, 2011, pp. 3329–3332.
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  40. M. Moll, I. A. Sucan, J. Bordeaux, and L. E. Kavraki, “Teaching Motion Planning Concepts to Undergraduate Students,” in IEEE Workshop on Advanced Robotics and its Social Impacts, 2011.
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  41. A. Bhatia, L. E. Kavraki, and M. Y. Vardi, “Sampling-Based Motion Planning with Temporal Goals,” in IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010, pp. 2689–2696.
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  42. I. A. Sucan and L. E. Kavraki, “On the Implementation of Single-Query Sampling-Based Motion Planners,” in IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010, pp. 2005–2011.
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  43. A. Bhatia, L. E. Kavraki, and M. Y. Vardi, “Motion Planning with Hybrid Dynamics and Temporal Goals,” in IEEE Conference on Decision and Control, Atlanta, GA, 2010, pp. 1108–1115.
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  44. E. Plaku, L. E. Kavraki, and M. Y. Vardi, “Falsification of LTL Safety Properties in Hybrid Systems,” in Proc. of the Conf. on Tools and Algorithms for the Construction and Analysis of Systems (TACAS 2009), York, UK, 2009.
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  45. I. A. Sucan and L. E. Kavraki, “Kinodynamic Motion Planning by Interior-Exterior Cell Exploration,” in Algorithmic Foundation of Robotics VIII (Proceedings of Workshop on the Algorithmic Foundations of Robotics), Guanajuato, Mexico, 2009, vol. 57, pp. 449–464.
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  46. I. A. Sucan and L. E. Kavraki, “On the Performance of Random Linear Projections for Sampling-Based Motion Planning,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, 2009, pp. 2434–2439.
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  47. R. B. Rusu, I. A. Sucan, B. P. Gerkey, S. Chitta, M. Beetz, and L. E. Kavraki, “Real-Time Perception-Guided Motion Planning for a Personal Robot,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, 2009, pp. 4245–4252.
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  48. N. Haspel, M. Moll, M. L. Baker, W. Chiu, and L. E. Kavraki, “Tracing Conformational Changes in Proteins,” in IEEE Intl. Conf. on Bioinformatics and Biomedicine Workshops (BIBMW), Washington, DC, 2009.
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  49. E. Plaku, L. E. Kavraki, and M. Y. Vardi, “Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning,” in Robotics: Science and Systems, Atlanta, Georgia, 2008, pp. 326–333.
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  50. E. Plaku, L. E. Kavraki, and M. Y. Vardi, “Impact of Workspace Decompositions on Discrete Search Leading Continuous Exploration (DSLX) Motion Planning,” in IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, pp. 3751–3756.
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  51. I. A. Sucan, J. F. Kruse, M. Yim, and L. E. Kavraki, “Kinodynamic Motion Planning with Hardware Demonstrations,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, 2008, pp. 1661–1666.
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  52. M. Moll and L. E. Kavraki, “LabelHash: A Flexible and Extensible Method for Matching Structural Motifs,” in Automated Function Prediction / BioSapiens meeting (AFP-BioSapiens), 2008. Available from Nature Precedings.
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  53. M. Moll and L. E. Kavraki, “Matching of Structural Motifs Using Hashing on Residue Labels and Geometric Filtering for Protein Function Prediction,” in The Seventh Annual International Conference on Computational Systems Bioinformatics (CSB2008), 2008, pp. 157–168.
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  54. D. Ricklin, S. K. Ricklin-Lichtsteiner, G. Sfyroera, H. Chen, A. Tzekou, P. Magotti, Y.-Q. Wu, B. L. Garcia, W. J. McWorther, N. Haspel, L. E. Kavraki, B. Geisbrecht, and J. D. Lambris, “Novel insights into target specificities and molecular mechanisms for two potent complement evasion proteins from Staphylococcus aureus.,” in XXII International Complement Workshop, Basel, Switzerland, 2008.
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  55. I. A. Sucan, J. F. Kruse, M. Yim, and L. E. Kavraki, “Reconfiguration for modular robots using kinodynamic motion planning,” in ASME – Dynamic Systems and Control, Ann Arbor, Michigan, USA, 2008.
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  56. K. I. Tsianos and L. E. Kavraki, “Replanning: A powerful planning strategy for hard kinodynamic problems,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, 2008, pp. 1667–1672.
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  57. V. Y. Fofanov, B. Y. Chen, D. H. Bryant, M. Moll, O. Lichtarge, L. E. Kavraki, and M. Kimmel, “A Statistical Model to Correct Systematic Bias Introduced by Algorithmic Thresholds in Protein Structural Comparison Algorithms,” in IEEE Intl. Conf. on Bioinformatics and Biomedicine (BIBM), Philadelphia, PA, 2008.
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  58. K. E. Bekris, K. I. Tsianos, and L. E. Kavraki, “A Distributed Protocol for Safe Real-Time Planning of Communicating Vehicles with Second-Order Dynamics,” in First International Conference on Robot Communication and Coordination (ROBOCOMM 07), Athens, Greece, 2007.
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  59. K. E. Bekris and L. E. Kavraki, “Greedy but Safe Replanning under Kinodynamic Constraints,” in Intl. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 704–710.
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  60. B. Y. Chen, D. H. Bryant, A. E. Cruess, J. H. Bylund, V. Y. Fofanov, M. Kimmel, O. Lichtarge, and L. E. Kavraki, “Composite Motifs Integrating Multiple Protein Structures Increase Sensitivity for Function Prediction,” in Computational Systems Bioinformatics Conference (CSB2007), 2007, pp. 343–355.
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  61. K. E. Bekris, K. I. Tsianos, and L. E. Kavraki, “A Decentralized Planner that Guarantees the Safety of Communicating Vehicles with Complex Dynamics that Replan Online,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, San Diego, CA, 2007.
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  62. E. Plaku, L. E. Kavraki, and M. Y. Vardi, “A Motion Planner for a Hybrid Robotic System with Kinodynamic Constraints,” in IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, 2007, pp. 692–697.
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  63. E. Plaku and L. E. Kavraki, “Nonlinear Dimensionality Reduction Using Approximate Nearest Neighbors,” in SIAM International Conference on Data Mining (SDM), Minneapolis, Minnesota, 2007, pp. 3711–3716.
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  64. E. Plaku, K. E. Bekris, and L. E. Kavraki, “OOPS for Motion Planning: An Online Open-source Programming System,” in IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, 2007, pp. 3711–3716.
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  65. M. Moll, P. Will, M. Krivokon, and W.-M. Shen, “Distributed Control of the Center of Mass of a Modular Robot,” in Proc. 2006 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Beijing, China, 2006, pp. 4710–4715.
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  66. B. Salemi, M. Moll, and W.-M. Shen, “SUPERBOT: A Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System,” in Proc. 2006 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Beijing, China, 2006, pp. 3636–3641.
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  67. B. Y. Chen, D. H. Bryant, V. Y. Fofanov, D. M. Kristensen, A. E. Cruess, M. Kimmel, O. Lichtarge, and L. E. Kavraki, “Cavity-Aware Motifs Reduce False Positives in Protein Function Prediction,” in Systems Bioinformatics Conference (CSB), Stanford, CA, 2006, vol. 4, pp. 311–323.
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  68. K. E. Bekris, M. Glick, and L. E. Kavraki, “Evaluation of Algorithms for Bearing-Only SLAM,” in Proceedings of The IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, 2006, pp. 1937–1944.
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  69. B. Y. Chen, V. Y. Fofanov, D. H. Bryant, B. D. Dodson, D. M. Kristensen, A. M. Lisewski, M. Kimmel, O. Lichtarge, and L. E. Kavraki, “Geometric Sieving: Automated Distributed Optimization of 3D Motifs for Protein Function Prediction,” in Research in Computational Biology: 10th Annual International Conference (RECOMB), Venice, Italy, 2006. Published in Lecture Notes in Computer Science, A. Apostolico, C. Guerra, S. Istrail, P. Pevzner, M. Waterman (Eds), Springer, 3909/2006, 500-515
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  70. E. Plaku and L. E. Kavraki, “Quantitative Analysis of Nearest Neighbors Search in High-Dimensional Sampling-based Motion Planning,” in Workshop on Algorithmic Foundations of Robotics (WAFR), New York, NY, 2006.
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  71. A. M. Ladd and L. E. Kavraki, “Motion Planning in the Presence of Drift, Underactuation and Discrete System Changes,” in Robotics: Science and Systems I, Boston, MA, 2005, pp. 233–241.
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  72. E. Plaku and L. E. Kavraki, “Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning,” in IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, pp. 3879–3884.
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  73. M. Moll and L. E. Kavraki, “Path Planning for Variable Resolution Minimal-Energy Curves of Constant Length,” in Proc. 2005 IEEE Intl. Conf. on Robotics and Automation, Barcelona, Spain, 2005, pp. 2143–2147.
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  74. B. Y. Chen, V. Y. Fofanov, D. M. Kristensen, M. Kimmel, O. Lichtarge, and L. E. Kavraki, “Algorithms for Structural Comparison and Statistical Analysis of 3D Protein Motifs,” in Pacific Symposium on Biocomputing, Hawaii, USA, 2005.
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  75. A. Haeberlen, E. Flannery, A. M. Ladd, A. Rudys, D. S. Wallach, and L. E. Kavraki, “Practical Robust Localization over Large-Scale 802.11 Wireless Networks,” in Proceedings of the Tenth ACM International Conference on Mobile Computing and Networking (MOBICOM 2004), Philadelphia, PA, 2004, pp. 70–84.
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  76. K. E. Bekris, A. A. Argyros, and L. E. Kavraki, “Angle-Based Methods for Mobile Robot Navigation: Reaching the Entire Plane,” in Proceedings of The IEEE International Conference on Robotics and Automation (ICRA), New Orleans, LA, 2004, pp. 2373–2378.
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  77. J. M. Phillips, N. Bedrosian, and L. E. Kavraki, “Guided Expansive Spaces Trees: A Search Strategy for Motion- and Cost-Constrained State Spaces,” in Proceedings of The IEEE International Conference on Robotics and Automation (ICRA), New Orleans, LA, 2004, pp. 3968–3973.
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  78. M. Moll and L. E. Kavraki, “Path Planning for Minimal Energy Curves of Constant Length,” in Proceedings of The IEEE International Conference on, New Orleans, LA, 2004, pp. 2826–2831.
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  79. K. E. Bekris, B. Y. Chen, A. M. Ladd, E. Plaku, and L. E. Kavraki, “Multiple Query Probabilistic Roadmap Planning Using Single Query Planning Primitives,” in 2003 IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, 2003, pp. 656–661.
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  80. J. M. Phillips, L. E. Kavraki, and N. Bedrosian, “Spacecraft Rendezvous and Docking With Real-Time Randomized Optimization,” in AIAA (American Institute of Aeronautics and Astronautics) Guidance, Navigation and Control Conference, Austin, TX, 2003.
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  81. J. M. Phillips, L. E. Kavraki, and N. Bedrosian, “Probabilistic Optimization Applied to Spacecraft Rendezvous and Docking,” in 13th American Astronomical Society/AIAA - Space Flight Mechanics Meeting, Puerto Rico, 2003.
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  82. M. Zhang and L. E. Kavraki, “Approximating Solutions of Molecular Inverse Kinematics Problems by Subdivision,” in The 24th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS) and the Annual Meeting of the Biomedical Engineering Society (BMES), 2002, pp. 2182–2183.
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  83. A. M. Ladd, K. E. Bekris, A. Rudys, G. Marceau, L. E. Kavraki, and D. S. Wallach, “Robotics-Based Location Sensing using Wireless Ethernet,” in Proceedings of the Eight ACM International Conference on Mobile Computing and Networking (MOBICOM 2002), Atlanta, GE, 2002, pp. 227–238.
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  84. A. M. Ladd and L. E. Kavraki, “Generalizing the Analysis of PRM,” in Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 2002), Washington, DC, 2002, pp. 2120–2125.
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  85. J. M. Phillips, A. M. Ladd, and L. E. Kavraki, “Simulated Knot Tying,” in Proceedings of The 2002 IEEE International Conference on Robotics and Automation (ICRA 2002), Washington, DC, 2002, pp. 841–846.
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  86. M. L. Teodoro, G. N. P. Jr., and L. E. Kavraki, “A Dimensionality Reduction Approach to Modeling Protein Flexibility,” in Proceedings of the 2002 ACM International Conference on Research in Computational Biology (RECOMB 2002), 2002, pp. 299–308.
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  87. M. Zhang and L. E. Kavraki, “Solving Molecular Inverse Kinematics Problems for Protein Folding and Drug Design,” in Currents in Computational Molecular Biology, 2002, pp. 214–215. Book includes short papers from The Sixth ACM International Conference on Research in Computational Biology (RECOMB 2002), Washington, DC, 2002
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  88. M. Moll and M. A. Erdmann, “Dynamic Shape Reconstruction Using Tactile Sensors,” in Proc. 2002 IEEE Intl. Conf. on Robotics and Automation, 2002, pp. 1636–1641.
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  89. M. Moll, K. Y. Goldberg, M. A. Erdmann, and R. S. Fearing, “Orienting Micro-Scale Parts with Squeeze and Roll Primitives,” in Proc. 2002 IEEE Intl. Conf. on Robotics and Automation, 2002, pp. 1931–1936.
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  90. A. M. Ladd, K. E. Bekris, G. Marceau, A. Rudys, L. E. Kavraki, and D. S. Wallach, “Using Wireless Ethernet for Localization,” in Proceedings of the 2002 IEEE/RJS International Conference on Intelligent Robots and Systems (IROS 2002), Lausanne, Switzerland, 2002, vol. 1, pp. 402–408.
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  91. A. Sudsang and L. E. Kavraki, “Part Orientation with a Force Field: Orienting Multiple Shapes using a Single Field,” in Proceedings of The 2001 IEEE/RJS International Conference on Intelligent Robots and Systems (IROS 2001), 2001, vol. 1, pp. 208–213.
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  92. M. Moll and M. A. Erdmann, “Reconstructing Shape from Motion Using Tactile Sensors,” in Proc. 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Maui, HI, 2001, pp. 691–700.
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  93. O. Brock and L. E. Kavraki, “Decomposition-Based Motion Planning: A Framework for Real-Time Motion Planning in High-Dimensional Configuration Places,” in Proceedings of The 2001 IEEE International Conference on Robotics and Automation (ICRA), 2001, pp. 1469–1475.
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  94. A. Sudsang and L. E. Kavraki, “A Geometric Approach to Designing a Programmable Force Field with a Unique Stable Equilibrium for Parts in the Plane,” in Proceedings of The 2001 IEEE International Conference on Robotics and Automation (ICRA 2001), Seoul, Korea, 2001, vol. 2, pp. 1079–1085. This paper was a finalist for best conference paper award
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  95. M. L. Teodoro, G. N. P. Jr., and L. E. Kavraki, “Molecular Docking: A Problem with Thousands of Degrees of Freedom,” in Proc. of the 2001 IEEE International Conference on Robotics and Automation (ICRA 2001), Seoul, Korea, 2001, pp. 960–966.
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  96. M. Zhang and L. E. Kavraki, “Efficiently Maintaining Molecular Conformations Using Local Frames,” in Currents in Computational Molecular Biology, Montreal, Canada, 2001, pp. 97–98. Book includes short papers from The Fifth ACM International Conference on Research in Computational Biology (RECOMB), Montreal, Canada, 2001
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  97. F. Lamiraux and L. E. Kavraki, “Positioning Symmetric and Non-Symmetric Parts using Radial and Constant Force Fields,” in Robotics: New Directions, Natick, MA, 2001, pp. 37–50. Book contains the proceedings of the International Workshop on the Algorithmic Foundations of Robotics (WAFR), Dartmouth, March 2000
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  98. J. Luo and L. E. Kavraki, “Part Assembly Using Static and Dynamic Force Fields,” in Proceedings of The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2000, vol. 2, pp. 1468–1474.
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  99. O. Brock and L. E. Kavraki, “Towards Real-Time Motion Planning in High Dimensional Spaces,” in Proceedings of The International Symposium on Robotics and Automation (ISRA), Monterey, Mexico, 2000.
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  100. C. Nielsen and L. E. Kavraki, “A Two-Level Fuzzy PRM for Manipulation Planning,” in Proceedings of The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2000, vol. 3, pp. 1716–1722.
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  101. E. Anshelevich, S. Owens, F. Lamiraux, and L. E. Kavraki, “Deformable Volumes in Path Planning Applications,” in Proceedings of The IEEE International Conference on Robotics and Automation (ICRA), San Fransisco, CA, 2000, vol. 3, pp. 2290–2295.
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  102. R. Bohlin and L. E. Kavraki, “Path Planning Using Lazy PRM,” in Proceedings of the IEEE International Conference on Robotics and Automation, San Fransisco, CA, 2000, vol. 1, pp. 521–528.
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  103. T. Danner and L. E. Kavraki, “Randomized Planning for Short Inspection Paths,” in Proceedings of The IEEE International Conference on Robotics and Automation (ICRA), San Fransisco, CA, 2000, vol. 2, pp. 971–976.
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  104. M. L. Teodoro, G. N. P. Jr., and L. E. Kavraki, “Singular Value Decomposition of Protein Conformational Motions: Application to HIV-1 Protease,” in Currents in Computational Molecular Biology, Tokyo, Japan, 2000, pp. 198–199. Book includes short papers from The Forth ACM International Conference on Computational Biology (RECOMB), 2000
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  105. C. Holleman and L. E. Kavraki, “A Framework for Using the Workspace Medial Axis in PRM Planners,” in Proceedings of the 2000 International Conference on Robotics and Automation (ICRA 2000 ), San Fransisco, CA, 2000, vol. 2, pp. 1408–1413.
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  106. F. Lamiraux and L. E. Kavraki, “Positioning and Orienting a Class of Symmetric Parts Using a Combination of a Unit-Radial and a Constant Force Fields,” in Proceedings of The 2000 IEEE International Conference on Robotics and Automation (ICRA 2000), San Fransisco, CA, 2000, vol. 1, pp. 178–183.
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  107. M. Moll and M. A. Erdmann, “Uncertainty Reduction Using Dynamics,” in Proc. 2000 IEEE Intl. Conf. on Robotics and Automation, San Francisco, California, 2000, pp. 3673–3680.
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  108. F. Lamiraux and L. E. Kavraki, “Path Planning for Elastic Plates Under Manipulation,” in Proceedings of The IEEE International Conference on, Detroit, MI, 1999, vol. 1, pp. 151–156.
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  109. S. M. LaValle, J. Yakey, and L. E. Kavraki, “A Probabilistic Roadmap Approach for Systems with Closed Kinematic Chains,” in Proceedings of The IEEE International Conference on Robotics and Automation (ICRA), Detroit, MI, 1999, vol. 3, pp. 1671–1677.
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  110. S. M. LaValle, P. W. Finn, L. E. Kavraki, and J.-C. Latombe, “Efficient Database Screening for Rational Drug Design Using Pharmacophore-Constrained Conformational Search,” in The Third ACM International Conference on Computational Biology (RECOMB), Grenoble, France, 1999, pp. 250–259.
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  111. L. J. Guibas, C. Holleman, and L. E. Kavraki, “A Probabilistic Roadmap Planner for Flexible Objects with a Workspace Medial-Axis Based Sampling Approach,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyongju, Korea, 1999, vol. 1, pp. 254–260.
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  112. C. Holleman, L. E. Kavraki, and J. Warren, “Planning Paths for a Flexible Surface Patch,” in Proceedings of The IEEE International Conference on Robotics and Automation (ICRA), Leuven, Belgium, 1998, vol. 1, pp. 21–26.