Motion Planning

Motion Planning involves finding a valid path for a moving object in a given environment. Motion planning algorithms are applied to several disciplines, including robotics, automated design, computational geometry, and biology. Due to their complexity, motion planning problems are generally solved using sampling-based algorithms that rely on an abstraction of the problem called a configuration space (Cspace) and good computational geometry tools.

In my research, I have proposed algorithms that take advantage of workspace guidance to discover important planning regions in the environment efficiently. This has entailed creating a general representation of skeleton annotations to guide traditional planners. I am interested in applying motion planning algorithms to robotics and computational biology applications and studying accessibility.

Publications

2025

HAS-RRT: RRT-Based Motion Planning Using Topological Guidance, D. Uwacu, A. Yammanuru, K. Nallamotu, V. Chalasani, M. Morales and N. M. Amato, in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2025.3560878. keywords: Planning, Reliability, Probabilistic logic, Topology

2023

Scalable Multi-robot Motion Planning for Congested Environments With Topological Guidance, Courtney McBeth, James Motes, Diane Uwacu, Marco Morales, Nancy M. Amato, In IEEE Robotics and Automation Letters, Aug 2023. DOI: 10.1109/LRA.2023.3312980

Keywords: Motion Planning, Multi-Agent, Workspace Topology.

Links: [ Published ], [ Video ].

2022

Hierarchical Planning With Annotated Skeleton Guidance, Diane Uwacu, Ananya Yammanuru*, Marco Morales, Nancy M. Amato, IEEE Robotics and Automation Letters (RA-L), Vol: 7, Issue: 4, pp. 11055-11061, Oct 2022. DOI: 10.1109/LRA.2022.3196885

Keywords: Lazy Evaluation,Motion Planning,Workspace Topology.

Links: [ Published ], [ Video ].

2020

Topology-Guided Roadmap Construction with Dynamic Region Sampling, Read Sandström, Diane Uwacu, Jory Denny, Nancy M. Amato, IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 4,, pp. 6161-6168, virtual, Oct 2020. DOI: 10.1109/LRA.2020.3010487

Keywords: Sampling-Based Motion Planning,Workspace Topology.

Links: [ Published ].

Using Guided Motion Planning to Study Binding Site Accessibility, Diane Uwacu, Abigail Ren*, Shawna Thomas, Nancy M. Amato, Proceedings of the 11th ACM International Conference on Bioinformatics, Computational Biology and Health Informatics, Issue: 109, (Virtual) New York, USA

Keywords: Computational Biology, Ligand Binding, Motion Planningy.

Links: [ Published ].

2016

The Impact of Approximate Methods on Local Learning in Motion Planning, Diane Uwacu, Chinwe Ekenna, Shawna Thomas, Nancy M. Amato, 1st International Workshop on Robot Learning and Planning (RLP 2016), in conjunction with RSS 2016, pp. 38-44, Ann Arbor, MI, Jun 2016

Keywords: Machine Learning, Sampling-Based Motion Planning.

Links: [ Published ].

2015

Improved Roadmap Connection via Local Learning for Sampling Based Planners, Chinwe Ekenna, Diane Uwacu, Shawna Thomas, Nancy M. Amato, Proc. IEEE/RSJ Int. Conf. Intel. Rob. Syst. (IROS), pp. 3227-3234, Hamburg, Germany, Oct 2015. DOI: 10.1109/IROS.2015.7353825

Keywords: Machine Learning, Motion Planning, Sampling-Based Motion Planning.

Links: [ Published ].

Studying Learning Techniques in Different Phases of PRM Construction, Chinwe Ekenna, Diane Uwacu, Shawna Thomas, Nancy M. Amato, In Machine Learning in Planning and Control of Robot Motion Workshop (IROS-MLPC), Hamburg, Germany, Oct 2015. DOI: 10.1109/IROS.2015.7353825

Keywords: Machine Learning, Sampling-Based Motion Planning.

Links: [ Published ].

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