# Publications

J. Yu and S. M. LaValle. **Shortest path set induced vertex ordering and its application to distributed distance optimal formation planning and control on graphs**. *Conference on Decision and Control*, 2013.

L. E. Erickson, J. Yu, Y. Huang, and S. M. LaValle. **Counting moving bodies using sparse sensor beams**. *Autonomous Robots*, 2013. Under review.

L. Bobadilla, O. Sanchez, J. Czarnowski, K. Gossman, and S. M. LaValle. **Controlling wild bodies using discrete transition systems**. *Autonomous Robots*, 2013. Invited submission. Under review.

K. Taylor and S. M. LaValle. **Intensity-based navigation with global guarantees**. *Autonomous Robots*, 2013. To appear.

B. Tovar, F. Cohen, L. Bobadilla, J. Czarnowski, and S. M. LaValle. **Combinatorial filters: Sensor beams, obstacles, and possible paths**. *ACM Transactions on Sensor Networks*, 2013. To appear.

L. E. Erickson, J. Yu, Y. Huang, and S. M. LaValle. **Counting moving bodies using sparse sensor beams**. *Autonomous Robots*, 2013. Under review.

G. Gordon. **Galerkin Methods for Complementarity Problems and Variational Inequalities**. *Technical report arXiv:1306.4753*, 2013.

B. Boots, A. Gretton and G. Gordon. **Hilbert Space Embeddings of Predictive State Representations**. *ICML Workshop on Machine Learning and System Identification (MLSYSID)*, 2013.

B. Boots, A. Gretton and G. Gordon. **Hilbert space embeddings of predictive state representations**. *Uncertainty in Artificial Intelligence (UAI)*, 2013.

S. Aine and M. Likhachev. **Anytime Truncated D*: Anytime Replanning with Truncation**. *International Symposium on Combinatorial Search (SoCS)*, 2013.

S. Aine and M. Likhachev. **Truncated Incremental Search: Faster Replanning by Exploiting Suboptimality**. *National Conference on Artificial Intelligence (AAAI)*, 2013.

J. Yu and S. M. LaValle. **Fast, near-optimal computation for multi-robot path planning on graphs**. *AAAI Conference on Artificial Intelligence (AAAI)*, 2013. Late breaking paper.

J. Yu and S. M. LaValle. **Structure and intractability of optimal multi-robot path planning on graphs**. *AAAI Conference on Artificial Intelligence (AAAI)*, 2013.

B. Boots and G. Gordon. **A spectral learning approach to range-only SLAM**. * International Conference on Machine Learning (ICML)*, 2013.

K. Gochev, A. Safonova and M. Likhachev. Incremental Planning with Adaptive Dimensionality. **Incremental Planning with Adaptive Dimensionality**. *International Conference on Automated Planning and Scheduling (ICAPS)*, 2013.

F. Duvallet, T. Kollar and A. Stentz. **Imitation Learning for Natural Language Direction Following through Unknown Environments**. *International Conference on Robotics and Automation (ICRA)*, 2013.

L. H. Erickson and S. M. LaValle. **Toward the design and analysis of blind, bouncing robots**. *International Conference on Robotics and Automation (ICRA)*, 2013.

M. Katsev, J. Yu, and S. M. LaValle. **Efficient formation path planning on large graphs**. *International Conference on Robotics and Automation (IRCA)*, 2013.

D. S. Yershov, P. Vernaza, and S.M. LaValle. **Continuous planning with winding constraints using optimal heuristic-driven front propagation**. *International Conference on Robotics and Automation (ICRA)*, 2013.

D. S. Yershov and S. M. LaValle. **Simplicial label correcting algorithms for continuous stochastic shortest path problems**. *International Conference on Robotics and Automation (ICRA)*, 2013.

J. Yu and S. M. LaValle. **Planning optimal paths for multiple robots on graphs**. *International Conference on Robotics and Automation (ICRA)*, 2013.

V. Narayanan, P. Vernaza, M. Likhachev and S. LaValle. **Planning Under Topological Constraints Using Beam-Graphs**. *International Conference on Robotics and Automation (ICRA)*, 2013.

F. Duvallet, T. Kollar, and A. Stentz. **Following Natural Language Directions through Unknown Environments**. *Human-Robot Interaction Pioneers Workshop 2013*, 2013.

B. Boots. **A spectral learning approach to learning predictive representations**. Doctoral thesis, Carnegie Mellon University, 2012.

S. M. LaValle. **Sensing and Filtering: A Fresh Perspective Based on Preimages and Information Spaces**. Now Publishers, Delft, The Netherlands, 2012.

B. Boots and G. Gordon. ** A spectral learning approach to range-only SLAM**. *NIPS Workshop on Spectral Algorithms for Latent Variable Models*, 2012.

B. Boots, A. Gretton and G. Gordon. ** Hilbert space embeddings of PSRs**. *NIPS Workshop on Spectral Algorithms for Latent Variable Models*, 2012.

G. Gordon. ** Fast solutions to projective monotone linear complementarity problems**. * Technical Report arXiv:1212.6958*, 2012.

V. Narayanan, M. Phillips and M. Likhachev. **Anytime Safe Interval Path Planning for Dynamic Environments**. *International Conference on Intelligent Robots and Systems (IROS)*, 2012.

P. Vernaza and J. A. Bagnell. **Efficient high dimensional maximum entropy modeling via symmetric partition functions**. *Neural Information Processing Systems (NIPS)*, 2012. [pdf]

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G. J. Gordon, P. Varakantham, W. Yeoh, H. Chuin Lau, A. S. Aravamudhan and S. Cheng. **Lagrangian Relaxation for Large-Scale Multi-Agent Planning**. *Autonomous Agents and Multiagent Systems (AAMAS)*, 2012. [pdf]

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S. Bhattacharya, M. Likhachev and V. Kumar. **Search-based Path Planning with Homotopy Class Constraints in 3D**.

*National Conference on Artificial Intelligence (AAAI)*, 2012. [pdf]

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P. Vernaza, V. Narayanan and M. Likhachev. **Efficiently finding optimal winding-constrained loops in the plane**. *Robotics: Science and Systems Conference (RSS)*, 2012. [pdf]

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S. Bhattacharya, M. Likhachev and V. Kumar. **Topological Constraints in Search-based Robot Path Planning**. *Autonomous Robots (AURO)*, 2012. [pdf]

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B. Boots and G. J. Gordon. **A spectral learning approach to range-only SLAM**. Technical report *arXiv*:1207.2491, 2012.

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B. Boots and G. J. Gordon. **Two manifold problems with applications to nonlinear system identification**. *International Conference on Machine Learning (ICML)*, 2012. [pdf]

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A. Bry, A. Bachrach and N. Roy. **State Estimation for Aggressive Flight in GPS-Denied Environments Using Onboard Sensing**. *IEEE International Conference on Robotics and Automation (ICRA)*, 2012. Best Conference Paper Finalist. [pdf]

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L. Chang, J. Smith, and D. Fox. **Interactive singulation of objects from a pile**. *IEEE International Conference on Robotics & Automation (ICRA)*, 2012. [pdf]

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K. Gochev, A. Safonova and M. Likhachev. **Planning with Adaptive Dimensionality for Mobile Manipulation**. *IEEE International Conference on Robotics and Automation (ICRA)*, 2012. [pdf]

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H. Zhang, J. Butzke, and M. Likhachev. **Combining Global and Local Planning with Guarantees on Completeness**. *IEEE International Conference on Robotics and Automation (ICRA)*, 2012. [pdf]

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S. M. LaValle. **Sensing and Filtering: A Fresh Perspective Based on Preimages and Information Spaces**. *Foundations and Trends in Robotics Series*, 2012. [book]

D. Yershov and S. M. LaValle. **Simplicial Dijkstra and A* Algorithms for Optimal Feedback Planning**. *Advanced Robotics*, 2012. To appear.

J. Yu and S. M. LaValle. **Shadow Information Spaces: Combinatorial Filters for Tracking Targets**. *IEEE Transactions on Robotics*, 28(2):440-456, 2012. [pdf]

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B. Tovar, F. Cohen, L. Bobadilla, J. Czarnowski and S. M. LaValle. **Combinatorial Filters: Sensor Beams, Obstacles, and Possible Paths**. *ACM Transactions on Sensor Networks*, 2012. Under review.

L. Bobadilla, O. Sanchez, J. Czarnowski, K. Gossman and S. M. LaValle. **Controlling Wild Bodies Using Discrete Transition Systems**. *Advanced Robotics*, 2012. Invited submission for special issue. Under review.

J. Yu and S. M. LaValle. **Time Optimal Multi-agent Path Planning on Graphs**. *AAAI Workshop on Multiagent Pathfinding (WoMP)*, 2012. [pdf]

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J. Yu and S. M. LaValle. **Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee**. *IEEE Conference on Decision and Control*, 2012. Under review.

M. Arnold, Y. Baryshnikov and S. M. LaValle. **Convex Hull Asymptotic Shape Evolution**. *Workshop on the Algorithmic Foundations of Robotics*, 2012. [pdf]

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L. Erickson, J. Yu, Y. Huang and S. M. LaValle. **Counting Moving Bodies Using Sparse Sensor Beams**. *Workshop on the Algorithmic Foundations of Robotics*, 2012. [pdf]

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J. Yu and S. M. LaValle. **Multi-agent Path Planning and Network Flow**. *Workshop on the Algorithmic Foundations of Robotics*, 2012. [pdf]

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R. Lopez-Padilla, R. Murrieta-Cid and S. M. LaValle. **Optimal Gap Navigation for a Disc Robot**. *Workshop on the Algorithmic Foundations of Robotics*, 2012. [pdf]

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L. Bobadilla, F. Martinez, E. Gobst, K. Gossman and S. M. LaValle. **Controlling Wild Mobile Robots Using Virtual Gates and Discrete Transitions**. *American Control Conference*, 2012. [pdf]

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L. Erickson and S. M. LaValle. **Navigation among visually connected sets of partially distinguishable landmarks**. *IEEE International Conference on Robotics and Automation*, 2012. [pdf]

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B. Boots and G. J. Gordon. **Online Spectral Identification of Dynamical Systems**. *NIPS Workshop on Sparse Representation and Low-rank Approximation*, 2011. [pdf]

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B. Boots and G. J. Gordon. **Two-Manifold Problems**. Technical report *arXiv*:1112.6399, 2011.

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H. Gong, J. Sim, M. Likhachev and J. Shi. **Multi-hypothesis Motion Planning for Visual Object Tracking**. *International Conference on Computer Vision (ICCV)*, 2011. [pdf]

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S. M. LaValle. **Motion planning: The essentials**. *IEEE Robotics and Automation Society*. Magazine, 18(1):79–89, 2011. [pdf]

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S. M. LaValle. **Motion planning: Wild Frontiers**. *IEEE Robotics and Automation Society*. Magazine, 18(2):108-118, 2011. [pdf]

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J. Yu and S. M. LaValle. **Shadow information spaces: Combinatorial filters for tracking targets**. *IEEE Transactions on Robotics*, 2011. [pdf]

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J. Kuffner and S. M. LaValle. **Space-filling trees: A new perspective on motion planning via incremental search**. *Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS)*, 2011. [pdf]

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D. Yershov and S. M. LaValle. **Simplicial Dijkstra and A* algorithms for optimal feedback planning**. *Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS)*, 2011. [pdf]

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M. Katsev and S. M. LaValle. **Learning the delaunay triangulation of landmarks from a distance ordering sensor**. *Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS)*, 2011. [pdf]

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L. Bobadilla, O. Sanchez, J. Czarnowski, and S. M. LaValle. **Minimalist multiple target tracking using directional sensor beams**. *Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS)*, 2011. [pdf]

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A. Huang, N. Roy, A. Bachrach, P. Henry, M. Krainin, D. Maturana, and D. Fox. **Visual odometry and mapping for autonomous flight using an RGB-D camera**. *International Symposium of Robotics Research (ISRR)*, 2011. [pdf]

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S. Bhattacharya, M. Likhachev and V. Kumar. **Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D**. *Proceedings of Robotics: Science and Systems Conference (RSS)*, 2011. Best paper award winner. [pdf]

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L. Bobadilla, O. Sanchez, J. Czarnowski, K. Gossman, and S. M. LaValle. **Controlling wild bodies using linear temporal logic**. *Proceedings of Robotics: Science and Systems (RSS)*, 2011. [pdf]

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M. P. Deisenroth, C. E. Rasmussen, and D. Fox. **Learning to Control a Low-Cost Manipulator using Data-Efficient Reinforcement Learning**. *Proceedings of Robotics: Science & Systems (RSS)*, 2011. [pdf]

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L. Bobadilla, K. Gossman, and S. M. LaValle. **Manipulating ergodic bodies through gentle guidance**. *Proceedings of IEEE Conference on Robot Motion and Control*, 2011. [pdf]

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B. Boots, S. Siddiqi and G. Gordon. **Closing the Learning-Planning Loop with Predictive State Representations**. <1em>International Journal of Robotics Research (IJRR), 2011. To appear.

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A. Grubb, F. Duvallet, S. Tellex, T. Kollar, N. Roy, and A. Stentz, and J. A. Bagnell. **Imitation Learning for Natural Language Direction Following**. *International Conference on Machine Learning Workshop on New Developments in Imitation Learning*, 2011.

K. Waugh, Brian D. Ziebart and J. A. Bagnell. **Computational Rationalization: The Inverse Equilibrium Problem**. *Proceedings of the International Joint Conference on Machine Learning (ICML)*, 2011. Best paper award winner.[pdf]

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K. Gochev, B. Cohen, J. Butzke, A. Safonova and M. Likhachev. **Path Planning with Adaptive Dimensionality**. *Proceedings of International Symposium on Combinatorial Search (SoCS)*, 2011. [pdf]

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B. Boots and G. Gordon. **An Online Spectral Learning Algorithm for Partially Observable Nonlinear Dynamical Systems**. *Proceedings of the Conference on Artificial Intelligence (AAAI)*, 2011. [pdf]

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M. Phillips and M. Likhachev. **Planning in Domains with Cost Function Dependent Actions**. *Proceedings of Association for the Advancement of Artificial Intelligence Conference (AAAI)*, 2011. [pdf]

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S. A. Hong and G. Gordon. **Optimal Distributed Market-Based Planning for Multi-Agent Systems with Shared Resources**. *Proceedings of Artificial Intelligence and Statistics*, 2011. [pdf]

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S. Ross, G. Gordon and J. A. Bagnell. **A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning**. *Proceedings of Artificial Intelligence and Statistics*, 2011. [pdf]

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B. Tovar, L. Freda and S. M. LaValle. **Learning Combinatorial Map Information From Permutations of Landmarks**. *International Journal of Robotics Research*, 2011. [pdf]

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M. Katsev, A. Yershova, B. Tovar, R. Ghrist and S. M. LaValle. **Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot**. *IEEE Transactions on Robotics:27(1)*, 2011. [pdf]

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L. Bobadilla, K. Gossman and S. M. LaValle. **Manipulating Ergodic Bodies Through Gentle Guidance**. *Proceedings of IEEE Conference on Robot Motion and Control*, 2011. [pdf]

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L. Bo, K. Lai, X. Ren, and D. Fox. **Object recognition with hierarchical kernel descriptors**. *In Proc. of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)*, 2011. [pdf]

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J. Ko and D. Fox. **Learning GP-BayesFilters via Gaussian process latent variable models**. *Autonomous Robots*, 30(1), 2011. [pdf]

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A. Bry and N. Roy. **Rapidly-exploring Random Belief Trees for Motion Planning Under Uncertainty**. *Proceedings of the IEEE Conference on Robotics and Automation (ICRA)*, 2011. [pdf]

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L. Erickson and S. M. LaValle. **How Many Landmark Colors Are Needed to Avoid Confusion in a Polygon?** *Proceedings of IEEE International Conference on Robotics and Automation (ICRA)*, 2011. [pdf]

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C. Matuszek, B. Mayton, R. Aimi, L. Bo, M. Deisenroth, R. Chu, M. Kung, L. LeGrand, J. Smith, and D. Fox. **Gambit: A robust chess-playing robotic system**. *In Proc. of the IEEE International Conference on Robotics & Automation (ICRA)*, 2011. [pdf]

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M. Phillips and M. Likhachev. **SIPP: Safe Interval Path Planning for Dynamic Environments**. Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2011. [pdf]

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J. Yu and S. M. LaValle. **Story Validation and Approximate Path Inference with a Sparse Network of Heterogeneous Sensors**. *Proceedings of IEEE International Conference on Robotics and Automation (ICRA)*, 2011. [pdf]

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B. Boots and G. Gordon. **Predictive State Temporal Difference Linearing**. *Proceedings of Neural Information Processing Systems*, 2010. [arXiv]

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P. Henry, M. Krainin, E. Herbst, X. Ren, and D. Fox. **RGB-D mapping: Using depth cameras for dense 3D modeling of indoor environments**. *In Proc. of the International Symposium on Experimental Robotics (ISER)*, 2010. [pdf]

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B. Ziebart, J. A. Bagnell and A. Dey. **Maximum Causal Entropy Correlated Equilibria for Markov Games**. *Proceedings of Autonomous Agents and Multi-agent Systems (AAMAS)*, 2010. [pdf]

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H. Gang, J. Sim, M. Likhachev, and J. Shi. **Tracking with Planning**. *Proc. of the European Conference on Computer Vision (ECCV)*, 2010. [pdf]

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K. Fragkiadaki and J. Shi. **Figure-Ground Image Segmentation helps Weakly-Supervised Learning of Objects**. *Proc. of the European Conference on Computer Vision (ECCV)*, 2010. [pdf]

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S. Bhattacharya , V. Kumar, and M. Likhachev. **Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning**. *Proc. of the Robots Science and Systems (RSS)*, 2010. [pdf]

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S. Bhattacharya , V. Kumar, and M. Likhachev. **Path Planning with Homotopy Class Constraints**. *Proc. of the Association for the Advancement of Artificial Intelligence (AAAI) Conference*, 2010. [pdf]

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B. Tovar, L. Freda and S. M. LaValle. **Learning Combinatorial Map Information from Permutations of Landmarks**. To appear in the *International Journal of Robotics Research*, 2010. [pdf]

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F. Duvallet and A. Stentz. **Imitation Learning for Task Allocation**. To appear in the *Proc. IEEE International Conference on Intelligent Robotics and Systems (IROS)*, 2010. [pdf]

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D. Munoz, J. A. Bagnell and M. Hebert. **Stacked Hierarchical Labeling**. *Proc. of the European Conference on Computer Vision (ECCV)*, 2010. [pdf]

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B. D. Ziebart, J. A. Bagnell and A. K. Dey. **Modeling Interaction via the Principle of Maximum Causal Entropy**. *Proc. of the International Conference on Machine Learning (ICML)*, 2010. [pdf]

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L. Song, B. Boots, S. M. Siddiqi, G. J. Gordon and A. J. Smola. **Hilbert space embeddings of hidden Markov models**. *Proc. of the International Conference on Machine Learning (ICML)*, 2010. [pdf]

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A. Grubb and J. A. Bagnell. **Boosted Backpropagation Learning for Training Deep Modular Networks**. *Proc. of the International Conference on Machine Learning (ICML)*, 2010. [pdf]

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S. M. Siddiqi, B. Boots and G. J. Gordon. **Reduced-rank hidden Markov models**. *Proc. of the 13th International Conference on Artificial Intelligence and Statistics (AISTATS)*, 2010. [pdf]

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S. Ross and J. A. Bagnell. **Efficient Reductions for Imitation Learning.** *Proc. of the International Conference on Artificial Intelligence and Statistics (AISTATS)*, 2010. [pdf] [supplementary material]

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A. Yershova, B. Tovar, M. Katsev, R. Ghrist, and S. M. LaValle. **Mapping and pursuit-evasion strategies for a simple wall-following robot**. Under review for *IEEE Transactions on Robotics*, 2010. [pdf]

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J. Yu, D. Liberzon, and S. M. LaValle. **Rendezvous without coordinates**. Under review for *IEEE Transactions on Automatic Control*, 2010. [pdf]

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B. Boots, G. Gordon, and S. Siddiqi. **Closing the Learning-Planning Loop with Predictive State Representations**. * Proc. of Robotics: Science and Systems VI (RSS)*, 2010. [pdf]

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B. Boots, G. Gordon, and S. Siddiqi. **Closing the Learning-Planning Loop with Predictive State Representations (extended abstract)**. * Proc. of the 9th Intl. Conf. on Autonomous Agents and Multiagent Systems* *(AAMAS)*, 2010. [pdf]

P. Henry, C. Vollmer, B. Ferris, and D. Fox. **Learning to navigate through crowded environments**. *Proc. of the IEEE International Conference on Robotics & Automation (ICRA)*, 2010. [pdf]

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B. Tovar and S. M. LaValle. **Searching and mapping among indistinguishable convex obstacles**. *Proc. of the IEEE International Conference on Robotics & Automation (ICRA)*, 2010. [pdf]

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J. Yu and S. M. LaValle. **Probabilistic shadow information spaces**. *Proc. of the IEEE International Conference on Robotics & Automation (ICRA)*, 2010. [pdf]

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J. Ramos, S. Siddiqi, A. Dubrawski, and G. Gordon. **Automatic State Discovery for Unstructured Audio Scene Classification**. * Proc. in 35th International Conference on Acoustics, Speech, and Signal Processing* *( ICASSP)*, 2010. [pdf]

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J. J. Kuffner and S. M. LaValle. **Space-filling trees.** Technical Report CMU-RI-TR-09-47, Robotics Institute, Carnegie Mellon University, 2009. [pdf]

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S. Siddiqi, B. Boots, and G. Gordon. **Reduced-Rank Hidden Markov Models.** Technical Report, 2009. [arxiv]

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S. M. LaValle. **Filtering and planning in information spaces**. Technical report, Department of Computer Science, University of Illinois, 2009. [pdf]

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J. Ko and D. Fox. **Learning GP-BayesFilters via Gaussian Process Latent Variable Models**. Proc. Robotics: Science and Systems V, 2009. [pdf]

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