Publications on Google Scholar

Previous Research

• Optimal Planning for Belief-Space and Dynamically Complex Domains

  Related Publications:
  Goretkin, G., Perez, A., Platt, R., Konidaris, G.,
  “Optimal Sampling-Based Planning for Linear-Quadratic Kinodynamic Systems,”
  in IEEE International Conference on Robotics and Automation (ICRA), 2013.[Pdf][Bibtex]
  
  Perez, A., Platt, R., Konidaris, G., Kaelbling, L., Lozano-Perez, T.,
  “LQR-RRT*: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics,”
  in IEEE International Conference on Robotics and Automation (ICRA), 2012. [Pdf][Bibtex]
  [Light-Dark][Video][ICRA Slides]
  [Astrobee]

• High-dimensional Dualarm Manipulation Planning

  Related Publication:
  Perez, A., Karaman, S., Shkolnik, A., Frazzoli E., Teller, S. and Walter, M.,
  “Asymptotically-optimal Manipulation Planning using Incremental Sampling-based Algorithms,”
  in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [Pdf][Bibtex]
  [Video][Page][Workshop][IROS Slides]

• Anytime Optimal Motion Planning for Agile Autonomous Vehicles

  (Generate optimal solutions as you drive, even if environment changes)

  Related Publication:
  Karaman, S., Walter, M., Perez, A., Frazzoli, E., and Teller, S.,
  “Anytime Motion Planning using the RRT*,”
  in IEEE International Conference on Robotics and Automation (ICRA), 2011. [Pdf][Bibtex]
  [Video][Page]

• Computationally-efficient Bidirectional Random Trees

  (Bidirectional RRT*)

  Related Publication:
  Jordan, M., Perez, A.,
  “Optimal Bidirectional Rapidly-Exploring Random Trees,” [CSAIL Tech Report MIT-CSAIL-TR-2013-021][Bibtex]
  [Page]

• Paths and the Art Gallery Problem

  (Enumerate all trajectory classes and the optimal solution for each one)

  Related Publication:
  Perez, A.,
  “On Randomized Path Coverage of Configuration Spaces,” [CSAIL Tech Report MIT-CSAIL-TR-2013-027][Bibtex]
  

Miscellaneous