
Présentation
Research Interests : Robot motion and manipulation planning, sampling-based planning algorithms, automomous navigation and mobile manipulation, motion of complex closed-chain mechanisms, multiple robots, dynamic environments, motions under uncertainty, human-robot interactions, aerial robotics, applications to structural bioinformatics.
Bio : Thierry Siméon is senior researcher at CNRS. After graduating from INSA in 1985, he received his PhD degree in Robotics and the Habilitation degree from the University Paul Sabatier of Toulouse (France) in 1989 and 1999, respectively. He joined CNRS in 1990 as researcher at LAAS (Toulouse) after a postdoctoral year at University of Pennsylvania, (Philadelphia, USA). His main research interests include algorithmic motion planning for robotics and also applications to structural biology. He has published more than 130 papers in international journals and conferences. He is one of the founding partners of the spin-off company Kineo CAM created in 2001 (now Kineo-Siemens). He participated to several European projects, in particular as the coordinator of the EU LTR MOLOG project (1999-2002), as PI of LAAS in the IST FP5 MOVIE project (2003-2005), as work-package responsible in the IST FP6 PHRIENDS project (2006-2009), and more recently as participant to the IST FP7 SAPHARI / ARCAS projects (2011-2016) and the H2020 PRO-ACT project (2019-2021). He has served as co-chair for the IEEE RAS Technical Committee on Robot Motion Planning from 2006 to 2009, as associated editor for the IEEE Transaction on Robotics from 2009 to 2012, for the 2011-2012 IEEE IROS and 2015-2020 ICRA conferences and as area-chair for the 2008-2009 RSS conference. He was a member of the French National Committee for Scientific Research (CoNRS) in 2012-2016 and scientific advisor for Robotics at INS2I/CNRS in 2019-2022.
Google Scholar : https://scholar.google.fr/citations?user=L74V10IAAAAJ
Publications
Publications
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Learning Geometric Reasoning Networks for Robot Task and Motion PlanningAccepted to the International Conference on Learning Representations (ICLR), Apr 2025, Singapore, Singapore
Communication dans un congrès
hal-04914376
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Learned Uncertainty Tubes via Recurrent Neural Networks for Planning Robust Robot Motions27th European Conference on Artificial Intelligence (ECAI), Oct 2024, Santiago de Compostela, Spain
Communication dans un congrès
hal-04636454
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Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2024, Abu Dhabi, United Arab Emirates
Communication dans un congrès
hal-04636503
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Simultaneous Action and Grasp Feasibility Prediction for Task and Motion Planning through Multi-Task LearningIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Detroy, United States
Communication dans un congrès
hal-04016581
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Learning to Predict Action Feasibility for Task and Motion Planning in 3D EnvironmentsIEEE International Conference on Robotics and Automation (ICRA), 2023, London, United Kingdom
Communication dans un congrès
hal-03808885
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A Sensitivity-Aware Motion Planner (SAMP) to Generate Intrinsically-Robust TrajectoriesIEEE International Conference on Robotics and Automation (ICRA), 2023, London, United Kingdom
Communication dans un congrès
hal-03808933
v2
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Heuristic Guidance Techniques for the Exploration of Small Celestial BodiesThe 20th World Congress of the International Federation of Automatic Control (IFAC 2017), Jul 2017, Toulouse, France. 6p
Communication dans un congrès
hal-01561690
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Combining System Design and Path PlanningWorkshop on the Algorithmic Foundations of Robotics (WAFR), Dec 2016, San Francisco, United States
Communication dans un congrès
hal-01364042
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Enhancing sampling-based kinodynamic motion planning for quadrotorsIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany
Communication dans un congrès
hal-01231717
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A Reinforcement Learning Approach to Protein Loop ModelingIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany
Communication dans un congrès
hal-01206128
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Being safe around the robotAlgorithmic Human Robot Interaction Workshop, HRI 2014, Mar 2014, Bielefeld, Germany
Communication dans un congrès
hal-01110185
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Planning agile motions for quadrotors in constrained environmentsIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, United States. 6p., ⟨10.1109/IROS.2014.6942564⟩
Communication dans un congrès
hal-01187138
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Sampling-based methods for a full characterization of energy landscapes of small peptidesIEEE International Conference on Bioinformatics and Biomedicine, Nov 2014, Belfast, United Kingdom. 8 p
Communication dans un congrès
hal-01070405
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Efficient sampling-based approaches to optimal path planning in complex cost spacesInternational Workshop on the Algorithmic Foundations of Robotics (WAFR), Aug 2014, Istanbul, Turkey. pp.16
Communication dans un congrès
hal-01062970
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A multi-tree extension of the Transition-based RRT: Application to ordering-and-pathfinding problems in continuous cost spacesIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2014, Chicago, United States. 6 p
Communication dans un congrès
hal-01057030
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A multi-tree approach to compute transition paths on energy landscapesWorkshop on Artificial Intelligence and Robotics Methods in Computational Biology, AAAI '13, Jul 2013, Bellevue, United States. pp. 8-13
Communication dans un congrès
hal-00872247
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Enhancing the Transition-based RRT to deal with complex cost spacesProc. IEEE ICRA '13, May 2013, Karlsruhe, Germany. pp. 4105-4110
Communication dans un congrès
hal-00872224
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Costmap planning in high dimensional configuration spacesIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2012, Kachsiung, Taiwan
Communication dans un congrès
hal-01982586
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Coarse-grained elastic networks, normal mode analysis and robotics-inspired methods for modeling protein conformational transitionsIEEE International Conference on Bioinformatics and Biomedicine Workshops, Oct 2012, Philadelphia, United States. pp.40-47, ⟨10.1109/BIBMW.2012.6470359⟩
Communication dans un congrès
hal-01981799
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Sharing effort in planning human-robot handover tasksIEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication, Sep 2012, Paris, France
Communication dans un congrès
hal-01976706
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Planning human-aware motions using a sampling-based costmap plannerIEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China. ⟨10.1109/ICRA.2011.5980048⟩
Communication dans un congrès
hal-01976227
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Parallelizing RRT on distributed-memory architecturesProc. IEEE ICRA '11, May 2011, Shanghai, China. pp. 2261-2266
Communication dans un congrès
hal-00872218
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Finding enveloping grasps by matching continuous surfacesIEEE International Conference on Robotics and Automation, 2011, Shangai, China
Communication dans un congrès
hal-01985779
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Addressing cost-space chasms in manipulation planningIEEE International Conference on Robotics and Automation, 2011, Shangai, China
Communication dans un congrès
hal-01985798
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Thumb-loops up for catalysis: a structure/function investigation of a functional loop movement in a GH-11 xylanaseBiomass-derived Pentoses : from Biotechnology to Fine Chemistry 2010, Nov 2010, Reims, France
Communication dans un congrès
hal-02822653
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Planning Safe and Legible Hand-over Motions for Human-Robot InteractionIARP/IEEE-RAS/EURON workshop on technical challenges for dependable robots in human environments, 2010, Toulouse, France
Communication dans un congrès
hal-01976223
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Planning pick-and-place tasks with two-hand regraspingIEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan
Communication dans un congrès
hal-01986173
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Coupling robotics and molecular modelling techniques to understand putative functional motion of the thumb-loop in GH-11 xylanase from Thermobacillus xylanilyticusLignobiotech One - 2010: 1. Symposium on Biotechnology Applied to Lignocelluloses (Lignobiotech One), Institut National de Recherche Agronomique (INRA). UMR Fractionnement des AgroRessources et Environnement (0614)., Mar 2010, Reims, France
Communication dans un congrès
hal-02815698
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A path planning approach to (dis)assembly sequencing2009 IEEE International Conference on Automation Science and Engineering (CASE 2009), Aug 2009, Bangalore, India. pp.286-291
Communication dans un congrès
hal-01986320
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Roadmap composition for multi-arm systems path planning2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Oct 2009, St. Louis, United States. pp.2471-2476
Communication dans un congrès
hal-01986305
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Encoding molecular motions in voxels mapsIEEE International Conference on Robotics and Automation (ICRA), May 2009, Kobe, Japan. ⟨10.1109/ROBOT.2009.5152248⟩
Communication dans un congrès
hal-04296471
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A sampling-based path planner for dual-arm manipulation2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2008, Xian, China. pp.383-388
Communication dans un congrès
hal-01986353
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Transition-based RRT for path planning in continuous cost spaces2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France. pp.2145-2150
Communication dans un congrès
hal-01986342
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Disassembly path planning for objects with articulated parts.IFAC Workshop on Intelligent Assembly and Disassembly, 2007, Alicante, Spain
Communication dans un congrès
hal-01989229
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The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion UncertaintyRobotics: Science and Systems, 2007, Atlanta, United States
Communication dans un congrès
hal-01987480
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Molecular Disassembly With Rrt-Like Algorithms2007 IEEE International Conference on Robotics and Automation (ICRA'07), Apr 2007, Rome, Italy. pp.3301-3306
Communication dans un congrès
hal-01987923
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Disassembly path planning for complex articulated objectsIFAC Workshop on Intelligent Assembly and Disassembly, May 2007, Alicante, Spain
Communication dans un congrès
hal-01993265
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A mobile robot that performs human acceptable motions2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2006, Beijing, China. pp.1811-1816
Communication dans un congrès
hal-01987513
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How May I Serve You? A Robot Companion Approaching a Seated Person in a Helping Context1st ACM SIGCHI/SIGART conference on Human-robot interaction (HRI '06 ), Mar 2006, Utah, United States. ⟨10.1145/1121241.1121272⟩
Communication dans un congrès
hal-01976200
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BioCD : An efficient algorithm for self-collision and distance computation between highly articulated molecular modelsRobotics : Science and Systems, Jun 2005, Cambridge, United States
Communication dans un congrès
hal-01988238
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Adaptive tuning of the sampling domain for dynamic-domain RRTs2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Aug 2005, Edmonton, Canada. pp.2851-2856
Communication dans un congrès
hal-01987611
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Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain2005 IEEE International Conference on Robotics and Automation, 2005, Barcelona, Spain. pp.3856-3861
Communication dans un congrès
hal-01987538
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Navigation in the presence of humans5th IEEE-RAS International Conference on Humanoid Robots, Dec 2005, Tsukuba, Japan. ⟨10.1109/ICHR.2005.1573565⟩
Communication dans un congrès
hal-01976196
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A PRM-based motion planner for dynamically changing environments2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2004, Sendai, Japan. pp.1606-1611
Communication dans un congrès
hal-01987651
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Moving Safely but not Slowly - reactively Adapting Paths for Better Trajectory Times1th International Conference on Advanced Robotics, Jun 2003, Coimbra, Portugal
Communication dans un congrès
hal-01976192
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Probabilistic Motion Planning for Parallel MechanismsIEEE International Conference on Robotics and Automation (ICRA'2003), Sep 2003, Taipei, Taiwan. pp.4354-4359
Communication dans un congrès
hal-01052999
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A 2-stages locomotion planner for digital actorsACM SIGGRAPH/Eurographics symposium on Computer animation, Aug 2003, San Diego, United States. pp.258--264
Communication dans un congrès
inria-00473393
v1
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3D Collision Avoidance for Digital Actors LocomotionIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), 2003, Las Vegas, United States. pp.400--405, ⟨10.1109/IROS.2003.1250661⟩
Communication dans un congrès
inria-00473310
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Planning human walk in virtual environmentsIEEE/RSJ International Conference on Intelligent Robots and System, 2002, Lausanne, Switzerland. pp.3048--3053, ⟨10.1109/IRDS.2002.1041736⟩
Communication dans un congrès
inria-00473304
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A Random Loop Generator for Planning the Motions of Closed Kinematic Chains using PRM Methods2002 IEEE International Conference on Robotics and Automation (ICRA 2002), May 2002, Washington, United States. pp.2141-2146
Communication dans un congrès
hal-01988698
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A probabilistic algorithm for manipulation planning under continuous grasps and placementsIROS 2002: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, Lausanne, Switzerland. pp.1560-1565
Communication dans un congrès
hal-01988686
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On the influence of sensor capacities and environment dynamics onto collision-free motion plansIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2002, Lausanne, Switzerland
Communication dans un congrès
hal-01979379
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A manipulation planner for pick and place operations under continuous grasps and placements2002 IEEE International Conference on Robotics and Automation (ICRA 2002), May 2002, Washington, United States. pp.2022-2027
Communication dans un congrès
hal-01988694
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Safe, Reliable and Friendly Intera ction Between Humans And Humanoids3rd IARP International Workshop on Humanoid and Human Friendly Robotics, Dec 2002, Tsukuba, Japan
Communication dans un congrès
hal-04299672
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Playing with several roadmaps to solve manipulation problemsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2002, Lausanne, Switzerland. ⟨10.1109/IRDS.2002.1041612⟩
Communication dans un congrès
hal-01972650
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Global nearness diagram navigation (GND)Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation, Apr 2001, Seoul, South Korea
Communication dans un congrès
hal-01979373
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Building topological models for navigation in large scale environmentsProceedings 2001 ICRA. IEEE International Conference on Robotics and Automation, May 2001, Seoul, South Korea. ⟨10.1109/ROBOT.2001.933283⟩
Communication dans un congrès
hal-01979376
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Towards a software development kit for motion synthesis in virtual worlds7th International Conference on Virtual Systems and Multi-Media (VSMM), Oct 2001, Berkeley, United States
Communication dans un congrès
hal-04295924
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KCD: a Collision Detector for Path Planning in Factory ModelsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2001, Hawai, United States
Communication dans un congrès
hal-04292588
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Move3D: a generic platform for path planning4th International Symposium on Assembly and Task Planning (ISATP), May 2001, Tsukuba, Japan
Communication dans un congrès
hal-04295844
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Planification de mouvement par échantillonnage aléatoireJournées Nationales de la Recherche en Robotique (JNRR), Oct 2001, Presqu'île de Giens, France
Communication dans un congrès
hal-04295889
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Motion generation for a rover on rough terrainsRSJ/IEEE International Conference on Intelligent Robots and Systems, Oct 2001, Maui, United States. pp.784-789
Communication dans un congrès
hal-01993312
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Computer Aided Motion: Move3D within MOLOGIEEE International Conference on Robotics and Automation (ICRA 2001), May 2001, Seoul, South Korea. pp.1494-1499
Communication dans un congrès
hal-01993293
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Incremental Topological Modeling using Local Voronoi-like GraphsIEEE/FSR International Conference on Intelligent Robots and Systems (IROS), Oct 2000, Takamatsu, Japan
Communication dans un congrès
hal-04292673
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Planning sensor-based motions for mobile robot navigationIEEE International Conference on Robotics and Automation (ICRA), Apr 2000, San-Francisco, United States
Communication dans un congrès
hal-04295765
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Mobility Analysis for Feasibility Studies in CAD Models of Industrial EnvironmentsIEEE International Conference on Robotics and Automation (ICRA), May 1999, Detroit, United States
Communication dans un congrès
hal-04295697
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Visibility Based Probabilistic RoadmapsIEEE/FSR International Conference on Intelligent Robots and Systems (IROS), Oct 1999, Kyongju, South Korea
Communication dans un congrès
hal-04292747
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Multiple path coordination for mobile robots: a geometric algorithmInternational Joint Conference on Artificial Intelligence (IJCAI), Jul 1999, Stokholm, Sweden
Communication dans un congrès
hal-04295732
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Robust motion planning for rough terrain navigationIEEE/FSR International Conference on Intelligent Robots and Systems (IROS), Oct 1999, Kyongju, South Korea
Communication dans un congrès
hal-04296110
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A collision checker for car-like robots coordinationIEEE International Conference on Robotics and Automation (ICRA), May 1998, Leuven, Netherlands
Communication dans un congrès
hal-04295650
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A Landmark-based Motion Planner for Rough Terrain Navigation5th International Symposium on Experimental Robotics (ISER 1997), Jun 1997, Barcelone, Spain. pp.1--11
Communication dans un congrès
hal-04296490
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Indoor Navigation with Uncertainty using Sensor-Based MotionsIEEE International Conference on Robotics and Automation (ICRA 1997), Apr 1997, Albuquerque, United States. ⟨10.1109/ROBOT.1997.606804⟩
Communication dans un congrès
hal-04295423
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Computing good holonomic collision-free paths to steer nonholonomic mobile robotsIEEE/FSR International Conference on Intelligent Robots and Systems (IROS), Sep 1997, Grenoble, France
Communication dans un congrès
hal-04295571
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Motion planning on rough terrain for an articulated vehicle in presence of uncertaintiesIEEE/FSR International Conference on Intelligent Robots and Systems (IROS), Nov 1996, Osaka, Japan
Communication dans un congrès
hal-04295532
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A numerical technique for planning motion strategies of a mobile robot in presence of uncertaintyProceedings of 1995 IEEE International Conference on Robotics and Automation, May 1995, Nagoya, Japan. ⟨10.1109/ROBOT.1995.525463⟩
Communication dans un congrès
hal-01979369
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Planning robust motion strategies for a mobile robotProceedings of the 1994 IEEE International Conference on Robotics and Automation, May 1994, San Diego, United States
Communication dans un congrès
hal-01979364
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Free Space Representation for a Mobile Robot moving on a Rough TerrainIEEE International Conference on Robotics and Automation (ICRA), May 1993, Atlanta, United States
Communication dans un congrès
hal-04295455
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A Practical Motion Planner for All-terrain Mobile RobotsIEEE/FSR International Conference on Intelligent Robots and Systems (IROS), Jul 1993, Yokohama, Japan
Communication dans un congrès
hal-04295493
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Sampling-Based Tree Planners (RRT, EST, and Variations)Encyclopedia of Robotics, Springer Berlin Heidelberg, pp.1-9, 2021, ⟨10.1007/978-3-642-41610-1_170-1⟩
Chapitre d'ouvrage
hal-03165054
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Combining System Design and Path PlanningGoldberg K., Abbeel P., Bekris K., Miller L. Algorithmic Foundations of Robotics XII, 13, , pp.112-127, 2020, Springer Proceedings in Advanced Robotics, ⟨10.1007/978-3-030-43089-4_8⟩
Chapitre d'ouvrage
hal-02571707
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Motion PlanningAerial Robotic Manipulation, pp.317-332, 2019, 978-3-030-12945-3. ⟨10.1007/978-3-030-12945-3_23⟩
Chapitre d'ouvrage
hal-02191300
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Path Deformation RoadmapsAlgorithmic Foundation of Robotics VII, 47, Springer Berlin Heidelberg, pp.19-34, 2008, Springer Tracts in Advanced Robotics
Chapitre d'ouvrage
hal-01987454
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Provably Safe Motions Strategies for Mobile Robots in Dynamic DomainsAutonomous Navigation in Dynamic Environments, 35, Springer Berlin Heidelberg, pp.85-106, 2007, Springer Tracts in Advanced Robotics
Chapitre d'ouvrage
hal-01976209
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Sampling-Based Motion Planning under Kinematic Loop-Closure ConstraintsAlgorithmic Foundations of Robotics VI, pp.75-90, 2005
Chapitre d'ouvrage
hal-01987883
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A General Manipulation Task PlannerAlgorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics., pp.311-327, 2004
Chapitre d'ouvrage
hal-01988619
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Notes on Visibility Roadmaps and Path PlanningAlgorithmic and Computational Robotics, 1, A K Peters/CRC Press, 2001
Chapitre d'ouvrage
hal-01988712
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Two manipulation planning algorithmsKen Goldberg, Dan Halperin, Jean-Claude Latombe, Randall Wilson. WAFR Proceedings of the workshop on Algorithmic foundations of robotics , A. K. Peters, Ltd. Natick, MA, USA, pp.109-125, 1994, ISBN:1-56881-045-8
Chapitre d'ouvrage
hal-01310030
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A geometrical approach to planning manipulation tasks. The case of discrete placements and graspsHirofumi Miura. The fifth international symposium on Robotics research , MIT Press, pp.453-463, 1990, 0-262-13253-2
Chapitre d'ouvrage
hal-01309950
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Note on learning sensitivity metrics for a quadrotor2024
Pré-publication, Document de travail
hal-04642304
v1
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Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects2023
Pré-publication, Document de travail
hal-04284213
v1
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Learned Sensitivity Metrics for Robust and Accurate Motion Planning2023
Pré-publication, Document de travail
hal-04027078
v1
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Algorithmique du mouvement et planification de tâches en robotiqueAutomatique / Robotique. Université Paul Sabatier - Toulouse III, 1999
HDR
tel-00131807
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