Selected Research Projects


Together with my students, I research algorithms that solve large-scale real world planning and decision-making problems with uncertainty and real-time performance requirements. I strive to equip these algorithms with a solid theoretical analysis and use them to provide efficient and robust planning in real robotic systems including mobile robots navigating at high-speeds in partially-known environments, multi-robot systems operating in unknown and hostile environments, autonomous aerial vehicles navigating in near-earth spaces and mobile monipulation platforms operating in cluttered spaces.

My current research thrust is mostly in developing novel graph search techniques that can solve complex deterministic and probabilistic planning problems in robotics. Such algorithms are typically quite general, come with rigorous theoretical analysis and are simple-to-implement. To the left are some of the research problems my group is currently concentrating on. Some of the developed algorithms are part of the publicly available Search-based Planning Library (SBPL).