Computational Robotics: Publications

Plaku E, Kavraki LE, and Vardi MY, "Falsification of LTL Safety Properties in Hybrid Systems." International Journal on Software Tools and Technology Transfer, 2012, invited, in press
Pezzementi Z, Plaku E, Reyda C, and Hager GD, "Tactile Object Recognition From Appearance Information." IEEE Transactions on Robotics, 2011, 27(3):473--487 [publisher] [preprint]
Plaku E, Kavraki LE, and Vardi MY, "Motion Planning with Dynamics by a Synergistic Combination of Layers of Planning." IEEE Transactions on Robotics, 2010, 26(3):469--482 [publisher] [preprint]
Plaku E, Kavraki LE, and Vardi MY, "Hybrid Systems: From Verification to Falsification by Combining Motion Planning and Discrete Search." Formal Methods in System Design, 2009, 34(2):157--182 [publisher] [preprint]
Plaku E, Stamati H, Clementi C, and Kavraki LE, "Fast and Reliable Analysis of Molecular Motion Using Proximity Relations and Dimensionality Reduction." Proteins: Structure, Function, and Bioinformatics, 2007, 67(4):897--907 [publisher] [preprint]
Plaku E and Kavraki LE, "Distributed Computation of the knn Graph for Large High-Dimensional Point Sets." Journal of Parallel and Distributed Computing, 2007, 67(3):346--359 [publisher] [preprint]
Plaku E, Bekris KE, Chen BY, Ladd AM, and Kavraki LE, "Sampling-Based Roadmap of Trees for Parallel Motion Planning." IEEE Transactions on Robotics, 2005, 21(4):587--608 [publisher] [preprint]

Plaku E "Path Planning with Probabilistic Roadmaps and Linear Temporal Logic" International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012, in press [publisher] [preprint]
Plaku E "Guiding Sampling-based Motion Planning by Forward and Backward Discrete Search" Lecture Notes in Artificial Intelligence, 2012, part III, vol. 7508, pp. 289--300 [publisher] [preprint]
Plaku E "Planning in Discrete and Continuous Spaces: From LTL Tasks to Robot Motions" Advances in Autonomous Robotics, Lecture Notes in Computer Science, 2012, vol. 7429, pp. 331-342. [publisher] [preprint]
Plaku E "Motion Planning with Differential Constraints as Guided Search over Continuous and Discrete Spaces" International Symposium on Combinatorial Search, Toronto, Canada, 2012, in press [publisher] [preprint]
Plaku E "Planning Robot Motions to Satisfy Linear Temporal Logic, Geometric, and Differential Constraints" International Conference on Automated Planning and Scheduling: Combining Task and Motion Planning for Real-World Applications, Sao Paolo, Brazil, 2012, in press [publisher] [preprint]
Liu WP, Lucas BC, Guerin K, and Plaku E, "Sensor and Sampling-based motion planning for minimally invasive robotic exploration of osteolytic lesions" IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 1346--1352 [publisher] [preprint]
Reiley C, Plaku E, and Hager GD, "Motion Generation of Robotic Surgical Tasks: Learning from Expert Demonstrations" International Conference of the IEEE Engineering in Medicine and Biology Society, Buenos Aires, Argentina, 2010, pp. 967--970 [publisher] [preprint]
Plaku E and Hager GD, "Sampling-based Motion and Symbolic Action Planning with Geometric and Differential Constraints." IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010, pp. 5002--5008 [publisher] [preprint]
Plaku E, Kavraki LE, and Vardi MY, "Falsification of LTL Safety Properties in Hybrid Systems." International Conference on Tools and Algorithms for the Construction and Analysis of Systems, York, UK, 2009. Lecture Notes in Computer Science, vol. 5505, pp. 368--382 [publisher] [preprint]
Plaku E, Kavraki LE, and Vardi MY, "Impact of Workspace Decompositions on Discrete Search Leading Continuous Exploration (DSLX) Motion Planning." IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, pp. 3751--3756 [publisher] [preprint]
Plaku E, Kavraki LE, and Vardi MY, "Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning" Robotics: Science and Systems, Atlanta, Georgia, 2007, MIT Press, pp. 326--333 [publisher] [preprint]
Plaku E, Kavraki LE, and Vardi MY, "Hybrid Systems: From Verification to Falsification." International Conference on Computer Aided Verification, Berlin, Germany, 2007. Lecture Notes in Computer Science, editors W. Damm and H. Hermanns, vol. 4590, pp. 468--481 [publisher] [preprint]
Plaku E and Kavraki LE, "Nonlinear Dimensionality Reduction Using Approximate Nearest Neighbors." SIAM International Conference on Data Mining, Minneapolis, MN, 2007, pp. 180--191 [publisher] [preprint]
Plaku E, Kavraki LE, and Vardi MY, "A Motion Planner for a Hybrid Robotic System with Kinodynamic Constraints." IEEE International Conference on Robotics and Automation, Rome, Italy, 2007, pp. 692--697 [publisher] [preprint]
Plaku E, Bekris KE, and Kavraki LE, "OOPS for Motion Planning: An Online Open-source Programming System." IEEE International Conference on Robotics and Automation, Rome, Italy, 2007, pp. 3711--3716 [publisher] [preprint]
Plaku E and Kavraki LE, "Quantitative Analysis of Nearest-Neighbors Search in High-Dimensional Sampling-Based Motion Planning." International Workshop on Algorithmic Foundations of Robotics, New York, NY, 2006. Springer Tracts in Advanced Robotics, editors S. Akella, N.M. Amato, W.H. Huang, and B. Mishra, vol. 47, pp. 3--18 [publisher] [preprint]
Plaku E and Kavraki LE, "Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning." IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, pp. 3879--3884 [publisher] [preprint]
Akinc M, Bekris KE, Chen BY, Ladd AM, Plaku E, and Kavraki LE, "Probabilistic Roadmaps of Trees for Parallel Computation of Multiple Query Roadmaps." International Symposium of Robotics Research (ISRR), Siena, Italy, 2003. Springer Tracts in Advanced Robotics, editors D. Paolo and R. Chatila, vol. 15, pp. 80--89 [publisher] [preprint]
Bekris KE, Chen BY, Ladd AM, Plaku E, and Kavraki LE, "Multiple Query Motion Planning using Single Query Primitives." IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, 2003, pp. 656--661 [publisher] [preprint]
Plaku E and Shparlinski IE, "On Polynomial Representations of Boolean Functions Related to some Number Theoretic Problems." Foundations of Software Technology and Theoretical Computer Science, Bangalore, India, 2001. Lecture Notes in Computer Science, editors R. Hariharan, M. Mukund, and V. Vinay, vol. 2245, pp. 305--316 [publisher] [preprint]
Arnavut Z and Plaku E, "Lossless Compression of ECG Signals." IEEE International Conference of the Engineering in Medicine and Biology Society, Atlanta, GA, 1999 [publisher] [preprint]

Thesis

Plaku E, "From High-Level Tasks to Low-Level Motions: Motion Planning for High-Dimensional Nonlinear Hybrid Robotic Systems" Ph.D. Thesis, Rice University, Houston, TX. July 2008 [publisher] [preprint]
Plaku E, "Multiplicity Automata, Polynomials and the Complexity of Small-Depth Boolean Circuits." M.S. Thesis, Clarkson University, Postdam, New York. May 2002 [publisher] [preprint]

BibTeX

@Article{PlakuSTTT12,
author  = {E. Plaku and L.E. Kavraki and M.Y. Vardi},
title   = {Falsification of LTL Safety Properties in Hybrid Systems},
journal = {International Journal on Software Tools and Technology Transfer}, 
year    = {2012}, 
note    = {in press}}

@Article{PezzementiTRO11,
author = {Z. Pezzementi and E. Plaku and C. Reyda and G. D. Hager},
title  = {Tactile Object Recognition From Appearance Information},
journal= {IEEE Transactions on Robotics}, 
year   = {2011},
volume = {27},
number = {3},
pages  = {473--487}}

@Article{PlakuTRO10,
 author = {Erion Plaku and Lydia E. Kavraki and Moshe Y. Vardi}, 
 title  = {Motion Planning with Dynamics by a Synergistic 
           Combination of Layers of Planning},  
 journal= {IEEE Transactions on Robotics},
 year   = {2010},
 volume = {26},
 number = {3},
 pages  = {469--482}}

@Article{PlakuFMSD08,
 author = {Erion Plaku and Lydia E. Kavraki and Moshe Y. Vardi}, 
 title  = {Hybrid Systems: From Verification to Falsification by
           Combining Motion Planning and Discrete Search},  
 journal= {Formal Methods in System Design},
 year   = {2009},
 volume = {34},
 number = {2},
 pages  = {157--182}}

@Article{PlakuProtSci07,
 author = {Erion Plaku and Hernan Stamati and 
           Cecilia Clementi and Lydia E. Kavraki}, 
 title  = {Fast and Reliable Analysis of Molecular Motion Using 
           Proximity Relations and Dimensionality Reduction},
 journal= {Proteins: Structure, Function, and Bioinformatics},
 year   = {2007},
 volume = {67},
 number = {4},
 pages  = {897--907}}

@Article{PlakuJPDC07,
 author = {Erion Plaku and Lydia E. Kavraki},
 title  = {Distributed Computation of the knn Graph for 
           Large High-Dimensional Point Sets},
 journal= {Journal of Parallel and Distributed Computing},
 year   = {2007},
 volume = {67},
 number = {3},
 pages  = {346--359}}

@Article{PlakuTRO05,
 author = {Erion Plaku and Kostas E. Bekris and Brian Y. Chen and
           Andrew M. Ladd and Lydia E. Kavraki},
 title  = {Sampling-Based Roadmap of Trees for Parallel Motion Planning},
 journal= {IEEE Transactions on Robotics},
 year   = {2005},
 volume = {21},
 number = {4},
 pages  = {587--608}

@InProceedings{PlakuIROS12,
author    = {Erion Plaku},
title     = {Path Planning with Probabilistic Roadmaps and 
             Linear Temporal Logic},
booktitle = {International Conference on 
             Intelligent Robots and Systems},
address   = {Vilamoura, Algarve, Portugal}, 
year      = {2012}, 
note      = {in press}}

@InCollection{PlakuICIRA12,
author    = {Erion Plaku,}
title     = {Guiding Sampling-based Motion Planning by 
             Forward and Backward Discrete Search},
booktitle = {International Conference on 
             Intelligent Robots and Applications},
address   = {Montreal, Canada},
series    = {Lecture Notes in Artificial Intelligence},
year      = {2012},
volume    = {7508},
pages     = {289--300}}

@InCollection{PlakuTAROS12,
author = {Erion Plaku},
title  = {Planning in Discrete and Continuous Spaces: 
          From {LTL} Tasks to Robot Motions},
booktitle= {Advances in Autonomous  Robotics}, 
address  = {Bristol, UK},
series   = {Lecture Notes in Computer Science},
year     = {2012},
volume   = {7429},
pages    = {331--342}}

@InProceedings{PlakuICAPS12TAMPRA,
author    = {Erion Plaku},
title     = {Planning Robot Motions to Satisfy Linear Temporal Logic,
             Geometric, and Differential Constraints},
booktitle = {International Conference on Automated Planning and Scheduling: 
             Combining Task and Motion Planning for Real-World Applications}.
address   = {Sao Paolo, Brazil}, 
year      = {2012}, 
pages     = {in press}}

@InProceedings{PlakuSOCS12,
author    = {Erion Plaku},
title     = {Motion Planning with Differential Constraints as 
             Guided Search over Continuous and Discrete Spaces},
booktitle = {International Symposium on Combinatorial Search},
address   = {Toronto, Canada},
year      = {2012},
note      = {in press}}

@InProceedings{LiuIROS11,
author   = {W. P. Liu and B. C. Lucas and K. Guerin and E. Plaku},
title    = {Sensor and Sampling-based motion planning for
            minimally invasive robotic exploration of osteolytic lesions},
booktitle= {IEEE/RSJ International Conference on Intelligent Robots and Systems}, 
address  = {San Francisco, CA}, 
year     = {2011}
pages    = {1346--1352}}

@InProceedinfs{ReileyEMBS10,
author    = {C. Reiley and E. Plaku and G. D. Hager},
title     = {Motion Generation of Robotic Surgical Tasks: 
             Learning from Expert Demonstrations},
booktitle = {International Conference of the IEEE Engineering in 
             Medicine and Biology Society}, 
address   = {Buenos Aires, Argentina}, 
year      = {2010}, 
pages     = {967--970}}

@InProceedings{PlakuICRA10,
 author    = {E. Plaku and G. D. Hager},
 title     = {Sampling-based Motion and Symbolic Action Planning with
              Geometric and Differential Constraints},
 booktitle = {IEEE International Conference on Robotics and Automation},
 year      = {2010},
 address   = {Anchorage, AK},
 pages     = {5002--5008}}

@InCollection{PlakuTACAS09,
 author = {E. Plaku and L. E. Kavraki and M. Y. Vardi},
 title  = {Falsification of {LTL} Safety Properties in Hybrid Systems},
 booktitle = {International Conference on Tools and Algorithms for the
              Construction and Analysis of Systems},
 year   = {2009},
 pages  = {368--382},
 series = {Lecture Notes in Computer Science},
 volume = {5505},
 publisher={Springer},
 address= {York, UK}}

@InProceedings{PlakuICRA08,
 author = {E. Plaku and L. E. Kavraki and M. Y. Vardi},
 title  = {Impact of Workspace Decompositions on Discrete Search
           Leading Continuous Exploration (DSLX) Motion Planning},
 booktitle = {IEEE International Conference on Robotics and Automation},
 year   = {2008},
 address= {Pasadena, CA},
 pages  = {3751--3756}}

@InProceedings{PlakuRSS07,
 author    = {E. Plaku and L. E. Kavraki and M. Y. Vardi},
 title     = {Discrete Search Leading Continuous Exploration for 
              Kinodynamic Motion Planning},
 booktitle = {Robotics: Science and Systems},
 year      = {2007},
 address   = {Atlanta, GA},
 publisher = {{MIT} Press},
 pages     = {326--333}}

@InCollection{PlakuCAV07,
 author   = {E. Plaku and L. E. Kavraki and M. Y. Vardi},
 title    = {Hybrid Systems: From Verification to Falsification},
 booktitle= {International Conference on Computer Aided Verification},
 address  = {Berlin, Germany},
 year     = {2007},
 series   = {Lecture Notes in Computer Science},
 editor   = {W. Damm and H. Hermanns},
 volume   = {4590},
 pages    = {468--481}}

@InProceedings{PlakuSDM07,
 author   = {E. Plaku and L. E. Kavraki},
 title    = {Nonlinear Dimensionality Reduction Using 
             Approximate Nearest Neighbors},
 booktitle= {SIAM International Conference on Data Mining},
 address  = {Minneapolis, MN},
 year     = {2007},
 pages    = {180--191}}

@InProceedings{PlakuICRA07Hybrid,
 author    = {E. Plaku and L. E. Kavraki and M. Y. Vardi},
 title     = {A Motion Planner for a Hybrid Robotic System with 
              Kinodynamic Constraints},
 booktitle = {IEEE International Conference on Robotics and Automation},
 address   = {Rome, Italy},
 year      = {2007},
 pages     = {692--697}}

@InProceedings{PlakuICRA07OOPSMP,
 author    = {E. Plaku and K. E. Bekris and L. E. Kavraki},
 title     = {{OOPS} for Motion Planning: 
              An Online Open-source Programming System},
 booktitle = {IEEE International Conference on Robotics and Automation},
 address   = {Rome, Italy},
 year      = {2007},
 pages     = {3711--3716}}

@InCollection{PlakuWAFR06,
 author   = {E. Plaku and L. E. Kavraki},
 title    = {Quantitative Analysis of Nearest-Neighbors Search in 
             High-Dimensional Sampling-Based Motion Planning},
 booktitle= {International Workshop on Algorithmic 
             Foundations of Robotics},
 series   = {Springer Tracts in Advanced Robotics},
 address  = {New York, NY},
 editor   = {S. Akella and N. M. Amato and W. H. Huang and B. Mishra},
 volume   = {47},
 pages    = {3--18},
 year     = {2006}}

@InProceedings{PlakuICRA05,
 author    = {E. Plaku and L. E. Kavraki},
 title     = {Distributed Sampling-Based Roadmap of Trees 
              for Large-Scale Motion Planning},
 booktitle = {IEEE International Conference on Robotics and Automation},
 address   = {Barcelona, Spain},
 year      = {2005},
 pages     = {3879--3884}}

@InCollection{AkincISRR03,
 author   = {M. Akinc and K. E. Bekris and B. Y. Chen and A. M. Ladd and L. E. Kavraki},
 title    = {Probabilistic Roadmaps of Trees for
             Parallel Computation of Multiple Query Roadmaps},
 booktitle= {International Symposium of Robotics Research},
 series   = {Springer Tracts in Advanced Robotics},
 address  = {Siena, Italy},
 volume   = {15},
 pages    = {80--89},
 year     = {2003}}

@InProceedings{BekrisIROS03,
 author   = {K. E. Bekris and B. Y. Chen and A. M. Ladd and L. E. Kavraki},
 title    = {Multiple Query Motion Planning using Single Query Primitives},
 booktitle= {IEEE/RSJ International Conference on Intelligent Robots and Systems},
 address  = {Las Vegas, NV},
 pages    = {656--661},
 year     = {2003}}

@InCollection{PlakuFSTTCS01,
 author   = {E. Plaku and I. E. Shparlinski},
 title    = {On Polynomial Representations of Boolean Functions Related to some 
             Number Theoretic Problems},
 booktitle= {Foundations of Software Technology and Theoretical Computer Science},
 series   = {Lecture Notes in Computer Science},
 address  = {Bangalore, India},
 editor   = {R. Hariharan and M. Mukund and V. Vinay},
 year     = {2001},
 volume   = {2245},
 pages    = {305--316}}

@InProceedings{ArnavutEMBS99,
 author    = {Z. Arnavut and E. Plaku},
 title     = {Lossless Compression of ECG Signals},
 booktitle = {IEEE International Conference of the 
              Engineering in Medicine and Biology Society},
 address   = {Atlanta, GA},
 year      = {1999}}

@PhDThesis{PlakuPhD08,
 author = {E. Plaku},
 title  = {From High-Level Tasks to Low-Level Motions: Motion Planning for 
           High-Dimensional Nonlinear Hybrid Robotic Systems},
 school = {Rice University},
 address= {Houston, TX},
 year   = {2008}}

@MastersThesis{PlakuMS02,
 author = {E. Plaku},
 title  = {Multiplicity Automata, Polynomials and the 
           Complexity of Small-Depth Boolean Circuits},
 school = {Clarkson University},
 address= {Potsdam, NY},
 year   = {2002}}

computational robotics

from tasks to motions

Publications