Publications of Jean-Claude Latombe

Publications of Jean-Claude Latombe

General

Planning Multi-Goal Tours
Multi-Robot Planning
Rock-Climbing Robots
Humanoid Robots
Manipulation Planning
Kinodynamic Motion Planning
Motion Planning with Uncertainty

Integration of Sensing and Planning
Motion Planning with Visibility Constraints
Assembly Planning
Computer-Assisted Surgery
Computational Structural Biology
Digital Actors
Architectural Design

General

Robot Motion Planning. J.C. Latombe. Kluwer Academic Publishers, Boston, MA, 1991.
Algorithmic Foundations of Robotics. K. Goldberg, D. Halperin, J.C. Latombe, and R.H. Wilson (eds.). AK Peters, Wellesley, MA, 1995.
Controllability, Recognizability, and Complexity Issues in Robot Motion Planning. J.C. Latombe. Proc. 36th Annual Symposium on Foundations of Computer Science, pp. 484-500, 1995.
Robotics. D. Halperin, L.E. Kavraki, and J.C. Latombe. CRC Handbook of Discrete and Computational Geometry, J.E. Goodman and J. O'Rourke (eds.), CRC Press, Boca Raton, FL, Chapter 41, pp. 755-778, 1997.
Robot Algorithms. D. Halperin, L.E. Kavraki, and J.C. Latombe. Algorithms and Theory of Computation Handbook, M.J. Atallah (ed.), CRC Press, Boca Raton, FL, Chapter 21, pp. 21-1--21-21, 1999.
Motion Planning: A Journey of Robots, Molecules, Digital Actors, and Other Artifacts. J.C. Latombe. Int. J. of Robotics Research, Special Issue on Robotics at the Millennium -- Part I, 18(11):1119-1128, November 1999.
Robotics. D. Halperin, L.E. Kavraki, and J.C. Latombe. CRC Handbook of Discrete and Computational Geometry, J.E. Goodman and J. O'Rourke (eds.), CRC Press, Boca Raton, FL, Chapter 41, pp. 1065-1093, 2004.

Representation of Kinematic Structures

Dynamic Maintenance of Kinematic Structures. D. Halperin, J.C. Latombe, and R. Motwani. In Algorithmic Foundations of Robotics, J.P. Laumond and M. Overmars (eds.), A K Peters, Wellesley, MA, pp. 155-170, 1997.

Collision Detection

Efficient Maintenance and Self-Collision Testing for Kinematic Chains. I. Lotan, F. Schwarzer, D. Halperin, and J.C. Latombe. Proc. 18th ACM Symp. on Computational Geometry, Barcelona, Spain, June 2002.
Exact Collision Checking of Robot Paths. F. Schwarzer, M. Saha, and J.C. Latombe, In Algorithmic Foundations of Robotics V, J.D. Boissonnat, J. Burdick, K. Goldberg, and S. Hutchinson (eds.), Springer Tracts in Advanced Robotics, Springer, pp. 25-41, 2004.
Adaptive Dynamic Collision Checking for Single and Multiple Articulated Robots in Complex Environments, F. Schwarzer, M. Saha, and J.C. Latombe. IEEE Tr. on Robotics, 21(3):338-353, June 2005.

Probabilistic Roadmaps

Robot Motion Planning: A Distributed Representation Approach. J. Barraquand and J.C. Latombe. International Journal of Robotics Research, 10(6):628-649, 1991.
Numerical Potential Field Techniques for Robot Path Planning. J. Barraquand, B. Langlois, and J.C. Latombe. IEEE Transactions on Systems, Man, and Cybernetics, 22(2):224-241, 1992.
Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces. L.E. Kavraki, P. Svestka, J.C. Latombe, and M. Overmars. IEEE Transactions on Robotics and Automation, 12(4):566-580, 1996.
Analysis of Probabilistic Roadmaps for Path Planning. L.E. Kavraki, M. Kolountzakis, and J.C. Latombe. Proc. IEEE International Conference on Robotics and Automation, pp. 3020-3025, 1996. Also in IEEE Tr. on Robotics and Automation, 14(1):166-171, Feb. 1998.
A Random Sampling Scheme for Path Planning. J. Barraquand, L.E. Kavraki, J.C. Latombe, T.Y. Li, R. Motwani, and P. Raghavan. International Journal of Robotics Research, 16(6):759-774, 1997.
Randomized Query Processing in Robot Motion Planning. L.E. Kavraki, J.C. Latombe, R. Motwani, and P. Raghavan. Proc. ACM SIGACT Symposium on the Theory of Computing (STOC), Las Vegas, Nevada, 1995, pp. 353-362. A revised version of this paper appeared in Journal of Computer and System Sciences, 57(1):50-60, August 1998.
Path Planning in Expansive Configuration Spaces. D. Hsu, J.C. Latombe, and R. Motwani. Proc. IEEE Int. Conf. on Robotics and Automation, 1997. A revised version of this paper appeared in International Journal of Computational Geometry and Applications, 9(4-5):495-512, 1999.
On Finding Narrow Passages with Probabilistic Roadmap Planners. D. Hsu, L.E. Kavraki, J.C. Latombe, R. Motwani, and S. Sorkin. In Robotics: The Algorithmic Perspective, Workshop on Algorithmic Foundations of Robotics, P.K. Agarwal, L.E. Kavraki, and M.T. Mason (eds.), A K Peters, Natick, MA, pp. 141-153, 1998.
Capturing the Connectivity of High-Dimensional Geometric Spaces by Parallelizable Random Sampling Techniques. D. Hsu, J.C. Latombe, R. Motwani, and L.E. Kavraki. In Advances in Randomized Parallel Computing, P.M. Pardalos and S. Rajasekaran (eds.), Combinatorial Optimization Series, Kluwer Academic Publishers, Boston, MA, 159-182, 1999.
Probabilistic Roadmaps for Robot Path Planning. L.E. Kavraki and J.C. Latombe. In Practical Motion Planning in Robotics: Current Approaches and Future Directions, K. Gupta and A. del Pobil (eds), John Wiley, pp. 33-53, 1998.
A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking. G. Sanchez and J.C. Latombe. Int. Symposium on Robotics Research (ISRR'01), Lorne, Victoria, Australia, November 2001. Published in Robotics Research: The Tenth Int. Symp., R.A. Jarvis and A. Zelinsky (eds.), Springer Tracts in Advanced Robotics, Springer, pp. 403-417, 2003.
On Delaying Collision Checking in PRM Planning -- Application to Multi-Robot Coordination. G. Sanchez and J.C. Latombe. Int. J. of Robotics Research, 21(1):5-26, January 2002.
Finding Narrow Passages with Probabilistic Roadmaps: The Small Step Retraction Method. M. Saha and J.C. Latombe. IEEE/RSJ Conf. on Intelligent Robots and Systems, Edmonton, Canada, 2005.
Finding Narrow Passages with Probabilistic Roadmaps: The Small-Step Retraction Method. M. Saha,J.C. Latombe,Y.-C. Chang, F. Prinz. Autonomous Robots, 19(3):301-319, Dec. 2005.
On the Probabilistic Foundations of Probabilistic Roadmap Planning. D. Hsu, J.C. Latombe, and H. Kurniawati. 12^th Int. Symp. on Robotics Research, San Francisco, Oct. 12-15, 2005.
Multi-Level Free-Space Dilation for Sampling Narrow Passages in PRM Planning. H.L. Chen, D. Hsu, J.C. Latombe, G. Sanchez. Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Orlando, FL, 2006.
On the Probabilistic Foundations of Probabilistic Roadmap Planning. D. Hsu, J.C. Latombe, and H. Kurniawati. Int. J. of Robotics Research, 25(7):627-643, July 2006.
Integrating task and PRM motion planning: Dealing with many infeasible motion planning queries. K. Hauser and J.C. Latombe. ICAPS09 Workshop on Bridging the Gap between Task and Motion Planning, Thessaloniki, Greece, Sept. 19-23, 2009.

Robot Placement

Placing a Robot Manipulator Amid Obstacles for Optimized Execution. D. Hsu, J.C. Latombe, and S. Sorkin. Proc. IEEE Int. Symp. on Assembly and Task Planning (ISATP'99), Porto, Portugal, pp. 280-285, 1999.

Planning Multi-Goal Tours

Planning Multi-Goal Tours for Robot Arms. M. Saha, G. Sanchez-Ante, and J.C. Latombe. IEEE Int. Conference on Robotics and Automation, Taipei, Taiwan, 2003.
Planning Multi-Goal Tours for Robot Arms. M. Saha, G. Sanchez-Ante, J.C. Latombe, and T. Roughgarden. Int. J. Robotics Research, 25(3):207-223, March 2006.

Multi-Robot Planning

Using a PRM Planner to Compare Centralized and Decoupled Planning for Multi-Robot Systems. G. Sanchez and J.C. Latombe. Proc. IEEE Int. Conf. on Robotics and Automation, 2002.
Motion Planning for Multiple Mobile Robot Systems Using Dynamic Networks. C.M. Clark, S.M. Rock, and J.C. Latombe, IEEE Int. Conference on Robotics and Automation, Taipei, Taiwan, 2003.
Dynamic Networks for Motion Planning in Multi-Robot Space Systems. C.M. Clark, S.M. Rock, and J.C. Latombe, 7^th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Nara, Japan, May 2003.

Rock-Climbing Robots

Motion Planning for a Three-Limbed Climbing Robot in Vertical Natural Terrain. T. Bretl, S.M. Rock, and J.C. Latombe, IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, 2003.
Climbing Robots in Natural Terrain. T. Bretl, T. Miller, S.M. Rock, and J.C. Latombe, 7^th Int. Symp. on Artificial Intelligence, Robotics and Automation in Space, Nara, Japan, May 2003.
Toward Autonomous Free-Climbing Robots. T. Bretl, J.C. Latombe, and S. Rock. 11^th Int. Symp. on Robotics Research, Siena, Italy, Oct. 19-22, 2003. Published in P. Dario and R. Chatila (eds.), Robotics Research, Springer, pp. 6-15, 2005.
Free-Climbing with a Multi-Use Robot. T. Bretl, S.M. Rock, J.C. Latombe, B. Kennedy, and H. Aghazarian. 9^th Int. Symp. on Experimental Robotics, Singapore, 18-21 June 2004.
Multi-Step Motion Planning for Free-Climbing Robots. T. Bretl, S. Lall, J.C. Latombe, S.M. Rock. 6th International Workshop on the Algorithmic Foundations of Robotics (WAFR04), Utrecht/Zeist, The Netherlands, July 11-13, 2004. Published in Algorithmic Foundations of Robotics VI, M. Erdmann, M. Overmars, D. Hsu, F. van der Stappen (eds.), Springer Tracts in Advanced Robotics, Vol. 17, Springer-Verlag GmbH, 2005.
Learning-Assisted Multi-Step Planning. K. Hauser, T. Bretl, J.C. Latombe. IEEE Int. Conf. on Robotics and Automation, Barcelona, Spain, 2005.
Motion Planning for a Six-Legged Lunar Robot. K. Hauser, T. Bretl, J.C. Latombe, and B. Wilcox. Workshop on Algorithmic Foundations of Robotics (WAFR), New-York, NY, July 2006. Published in Algorithmic Foundation of Robotics VII, Springer Tracts in Advanced Robotics, Vol. 47, pp. 301-316, 2008.

Humanoid and Legged Robots

Non-Gaited Humanoid Locomotion Planning. K. Hauser, T. Bretl, and J.C. Latombe. Humanoids 2005, Tsukuba, Japan, Dec. 2005.
Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots. K. Hauser, T. Bretl, K. Harada, J.C. Latombe. Workshop on Algorithmic Foundations of Robotics (WAFR), New-York, NY, July 2006. Published in Algorithmic Foundation of Robotics VII, Springer Tracts in Advanced Robotics, Vol. 47, pp. 507-522, 2008.
Motion Planning for Legged Robots on Varied Terrain. K. Hauser, T. Bretl, J.C. Latombe, K. Harada, and B. Wilcox. International J. of Robotics Research, 27(11-12):1325-1349, 2008.
Multi-Modal Motion Planning in Non-Expansive Spaces. K. Hauser and J.C. Latombe. Proc 8^th Workshop on Algorithmic Foundations of Robotics (WAFR), Guanajuato, Mexico, Dec. 7-9, 2008.
Multi-Modal Motion Planning in Non-Expansive Spaces. K. Hauser and J.C. Latombe. International J. of Robotics Research, 2009 (to appear).

Manipulation Planning

On Multi-Arm Manipulation Planning. Y. Koga and J.C. Latombe. Proc. IEEE International Conference on Robotics and Automation, pp. 945-952, 1994.
On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment. T.Y. Li and J.C. Latombe. International Journal of Robotics Research, 16(2):144-167, 1997.
Motion Planning for Robotic Manipulation of Deformable Linear Objects. M. Saha, P. Isto, and J.C. Latombe. Int. Symp. On Experimental Robotics (ISER), Rio de Janeiro, Brazil, July 2006.

Kinodynamic Motion Planning

A Fast Path Planner for a Car-Like Indoor Mobile Robot. J.C. Latombe. Proc. Ninth National Conference on Artificial Intelligence, Anaheim, CA, pp. 659-665, July 1991.
Nonholonomic Multobody Mobile Robots: Controllability and Motion Planning in the Presence of Obstacles. J. Barraquand and J.C. Latombe. Algorithmica, 10(2-3-4):121-155, 1993.
Nonholonomic Path Planning for Pushing a Disk Among Obstacles. P.K. Agarwal, J.C. Latombe, R. Motwani, and P. Raghavan. Proc. IEEE International Conference on Robotics and Automation, 1997.
Randomized Kinodynamic Motion Planning with Moving Obstacles. D. Hsu, R. Kindel, J.C. Latombe, S. Rock. Proc. Workshop on Algorithmic Foundations of Robotics (WAFR'00), Hanover, NH, March 2000.
Kinodynamic Motion Planning Amidst Moving Obstacles. R. Kindel, D. Hsu, J.C. Latombe, S. Rock. Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, April 2000.
Randomized Kinodynamic Motion Planning with Moving Obstacles. D. Hsu, R. Kindel, J.C. Latombe, S. Rock. Int. J. of Robotics Research, 21(3):233-255, March 2002.

Motion Planning with Uncertainty

Planning the Motions of a Mobile Robot in a Sensory Uncertainty Field. H. Takeda, C. Facchinetti, and J.C. Latombe. IEEE Transactions on Pattern Analysis and Machine Intelligence, 16(10):1002-1017, 1994.
Landmark-Based Robot Navigation. A. Lazanas and J.C. Latombe. Algorithmica, 13:472-501, 1995.
Motion Planning with Uncertainty: A Landmark Approach A. Lazanas and J.C. Latombe. Artificial Intelligence, 76(1-2):285-317, 1995.
Application of a Logic of Knowledge to Motion Planning under Uncertainty. R.I. Brafman, J.C. Latombe, Y. Moses, and Y. Shoham. J. of ACM, 44(5), September 1997.

Integration of Sensing and Planning

Leaving Flatland: Toward Real-Time 3D Navigation. B. Morisset, R. Bogdan Rusu, A. Sundaresan, K. Hauser, M. Agrawal, J.C. Latombe, and M. Beetz. Proc. IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, May 12-17, 2009.
Leaving Flatland: Efficient Real-Time 3D Perception and Motion Planning. R. Bogdan Rusu, A. Sundaresan, B. Morisset, K. Hauser, M. Agrawal1, J.C. Latombe, and M. Beetz. Int. J. of Field Robotics, 26(10):841-862, 2009.

Motion Planning with Visibility Constraints

Autonomous observer:

An Intelligent Observer. C. Becker, H. Gonzalez-Banos, J.C. Latombe, and C. Tomasi. In Lecture Notes in Control and Information Sciences 223, O. Khatib and J.K. Salisbury (eds.), Springer, New York, NY, pp. 153-160, 1997
Motion Planning with Visibility Constraints: Building Autonomous Observers. H.H. Gonzalez-Banos, L.J. Guibas, J.C. Latombe, S.M. LaValle, D. Lin, R. Motwani, and C. Tomasi. In Robotics Research - The Eighth International Symposium, Y. Shirai and S. Hirose (eds.) Springer, pp. 95-101, 1998.
The Autonomous Observer: A Tool for Remote Experimentation in Robotics. H.H. Gonzalez-Banos, J.L. Gordillo, D. Lin, J.C. Latombe, A. Sarmiento, and C. Tomasi. Proc. SPIE Conf. on Telemanipulator and Telepresence Technologies, Vol. 3840, pp. 210-221, Nov. 1999. (html file.)

Target finding:

Finding an Unpredictable Target in a Workspace with Obstacles. S.M. LaValle, D. Lin, L.J. Guibas, J.C. Latombe, and R. Motwani. Proc. IEEE International Conference on Robotics and Automation, 1997.
Visibility-Based Pursuit-Evasion in a Polygonal Environment. L.J. Guibas, J.C. Latombe, S.M. LaValle, D. Lin, and R. Motwani. Proc. 5th Int. Workshop on Algorithms and Data Structures (WADS'97), Halifax, Nova Scotia, Canada; published as Lecture Notes in Computer Science 1272, F. Dehne, A. Rau-Chaplin, J.R. Sack, and R. Tamassia (eds.), pp. 17-30, 1997.
A Visibility-Based Pursuit-Evasion Problem. L.J. Guibas, J.C. Latombe, S.M. LaValle, D. Lin, and R. Motwani. International Journal of Computational Geometry and Applications, 9(5):471-194, Oct. 1999.

Target tracking:

Motion Strategies for Maintaining Visibility of a Moving Target. S.M. LaValle, H. Gonzalez-Banos, C. Becker, and J.C. Latombe. Proc. IEEE International Conference on Robotics and Automation, 1997.
Dealing with Geometric Constraints in Game-Theoretic Planning. P. Fabiani and J.C. Latombe. Proc. Int. Joint Conf. on Artificial Intelligence (IJCAI) pp. 942-947, August 1999.
Tracking a Partially Predictable Target with Uncertainties and Visibility Constraints. P. Fabiani. H.H. Gonzalez-Banos, J.C. Latombe, and D. Lin. J. of Robotics and Autonomous Systems, 38(1):31-48, 2002.
Real-Time Combinatorial Tracking of a Target Moving Unpredictably Among Obstacles. H.H. Gonzalez-Banos, C.Y. Lee, and J.C. Latombe. IEEE Int. Conf. on Robotics and Automation, Washington D.C., May 2002.
Real-Time Tracking of an Unpredictable Target Amidst Unknown Obstacles. C.Y. Lee, H.H. Gonzalez-Banos, and J.C. Latombe. Int. Conf. on Control, Automation, Robotics and Vision (ICARCV'02), Singapore, Dec. 2002.

Map/model building:

Planning Robot Motions for Range-Image Acquisition and Automatic 3D Model Construction. H.H. Gonzalez-Banos and J.C. Latombe, AAAI Fall Symposium, 1998.
Planning Robot Motion Strategies for Efficient Model Construction. H.H. Gonzalez-Banos, E. Mao, J.C. Latombe, T.M. Murali, and A. Efrat. Robotics Research -- The 9th Int. Symposium, J.M. Hollerbach and D.E. Koditschek (eds.), Springer, pp. 345-352, 2000.
Robot Navigation for Automatic Model Construction Using Safe Regions. H.H. Gonzalez-Banos and J.C. Latombe. Experimental Robotics VII. D. Russ and S. Singh (eds.), Lecture Notes in Control and Information Sciences, 271, Springer, pp. 405-415, 2001. (Int. Symposium on Experimental Robotics (ISER'01), Waikiki, HI, December 2000.)
Navigation Strategies for Exploring Indoor Environments. H.H. Gonzalez-Banos and J.C. Latombe. Int. J. of Robotics Research. 21(10-11):829-848, Oct-Nov. 2002.

Sensor placement/Art gallery:

A Randomized Art-Gallery Algorithm for Sensor Placement. H.H. Gonzalez-Banos and J.C. Latombe. Proc. 17th ACM Symp. on Computational Geometry (SoCG'01), pp. 232-240, 2001.

Assembly Planning

On the Complexity of Assembly Partitioning. L.E. Kavraki, J.C. Latombe, and R.H. Wilson. Information Processing Letters, 48:229-235, 1993.
Geometric Reasoning about Mechanical Assembly. R.H. Wilson and J.C. Latombe. Artificial Intelligence, 71(2):371-396, 1995.
Two-Handed Assembly Sequencing. R.H. Wilson, L.E. Kavraki, J.C. Latombe, and T. Lozano-Perez. International Journal of Robotics Research, 14(4):335-350, 1995.
Complexity Measures for Assembly Sequences. M. Goldwasser, J.C. Latombe, and R. Motwani, Proc. IEEE International Conference on Robotics and Automation, pp. 1851-1857, 1996.
Assembly Sequencing with Toleranced Parts. J.C. Latombe, R.H. Wilson, and F. Cazals. Computer-Aided Design, 29(2):159-174, 1997.
Polyhedral Assembly Partitioning Using Maximally Covered Cells in Arrangements of Convex Polygons. L.J. Guibas, D. Halperin, H. Hirukawa, J.C. Latombe, and R.H. Wilson. International Journal of Computational Geometry and its Application, 8(2):179-199, 1998.
Effect of Tolerancing on the Relative Positions of Parts in an Assembly. F. Cazals and J.C. Latombe Proc. IEEE International Conference on Robotics and Automation.
A General Framework for Assembly Planning: The Motion Space Approach. D. Halperin, J.C. Latombe, and R.H. Wilson. Algorithmica, 26(3-4):577-601. A shorter version also appeared in Proc. of 14th ACM Symp. on Computational Geometry, Minneapolis, Minnesota, pp. 9-18, 1998.

Computer-Assisted Surgery

Radiosurgical planning:

Motion Planning in Stereotaxic Radiosurgery. A. Schweikard, J.R. Adler, and J.C. Latombe. IEEE Transactions on Robotics and Automation, 9(6):764-774, 1993.
Treatment Planning for a Radiosurgical System with General Kinematics. A. Schweikard, R. Tombropoulos, L.E. Kavraki, J.R. Adler, and J.C. Latombe. Proc. IEEE International Conference on Robotics and Automation, pp. 1720-1727, 1994.
Treatment Planning for Image-Guided Robotics Radiosurgery. R. Tombropoulos, A. Schweikard, J.C. Latombe, and J.R. Adler. In Lecture Notes in Computer Science 905, N. Ayache (ed.) Springer, New York, NY, pp. 131-137, 1995.
A General Algorithm for Beam Selection in Radiosurgery. R. Tombropoulos, J.C. Latombe, and J.R. Adler. Preprints of the IARP Workshop on Medical Robotics, Vienna, pp. 91-98, 1996.
Inverse Treatment Planning for the Cyberknife. R. Tombropoulos, J.C. Latombe, and J.R. Adler. Radiosurgery, 2:236-250, Karger, Basel, 1998.
CARABEAMER: A Treatment Planner for a Robotic Radiosurgical System with General Kinematics. R.Z. Tombropoulos, J.R. Adler, and J.C. Latombe. Medical Image Analysis, 3(3):237-264, 1999.

Soft tissue simulation:

A Microsurgery Simulation System. J. Brown, K. Montgomery, J.C. Latombe, and M. Stephanides. Proc. 4th Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, Utrecht, The Netherlands, pp. 137-144Oct. 2001.
Real-Time Simulation of Deformable Objects: Tools and Application. J. Brown, S. Sorkin, C. Bruyns, J.C. Latombe, K. Montgomery, and M. Stephanides. Proc. Computer Animation, Seoul, Korea, November 2001.
The Forcegrid: A Buffer Structure for Haptic Interaction with Virtual Elastic Objects. F. Mazzella, K. Montgomery, and J.C. Latombe. Proc. IEEE Int. Conf. on Robotics and Automation, Washington D.C., May 2002.
Interactive Simulation of the Human Hand. L. Sibille, M. Teschner, S. Srivastava, and J.C. Latombe. Proc. 6th Annual Conf. of the Int. Society for Computer-Aided Surgery, 16th Int. Congress of Computer-Assisted Radiology and Surgery (CARS), Paris, France, June 2002.
Algorithmic Tools for Real-Time Microsurgery Simulation. J. Brown, S. Sorkin, J.C. Latombe, K. Montgomery, and M. Stephanides. Medical Image Analysis, Elsevier, 6(3):289-300, September 2002.
Real-Time Knot Tying Simulation. J. Brown, J.C. Latombe, and K. Montgomery. The Visual Computer J., 20(2-3):165-179, May 2004.

Computational Structural Biology

Kinematics and Structure:

Computing Protein Structures from Electron Density Maps: The Missing Loop Problem. I. Lotan, H. van den Bedem, A. Deacon, J.C. Latombe. 6th International Workshop on the Algorithmic Foundations of Robotics (WAFR04), Utrecht/Zeist, The Netherlands, July 11-13, 2004. Published in Algorithmic Foundations of Robotics VI, M. Erdmann, M. Overmars, D. Hsu, F. van der Stappen (eds.), Springer Tracts in Advanced Robotics, Vol. 17, Springer-Verlag GmbH, 2005.
Real-space protein-model completion: an inverse-kinematics approach. H. van den Bedem, I. Lotan, J.C. Latombe and A. M. Deacon. Acta Crystallographica, D61:2-13, 2005.
On the Inverse Kinematics of a Fragment of Protein Backbone. G. Liu, J. Milgram, A. Dhanik, and J.C. Latombe. 10th Symp. on Advances in Robot Kinematics, Ljubljana, Slovenia, June 2006, pp. 201-208.
On the structure of the inverse kinematics map of a fragment of protein backbone. J. Milgram, G. Liu, J.C. Latombe. J. of Computational Chemistry, published online: 24 May 2007, 29(1):50-68, January 2008.
Efficient Algorithms to Explore Conformation Spaces of Flexible Protein Loops.A. Dhanik, P. Yao, N. Marz, R. Propper, C. Kou, G. Liu, H. van den Bedem, J.C. Latombe. 7^th Workshop on Algorithms in Bioinformatics (WABI 2007), Philadelphia, September 2007, pp. 265-276.
Efficient Algorithms to Explore Conformation Spaces of Flexible Protein Loops. P. Yao, A. Dhanik, N. Marz, R. Propper, C. Kou, G. Liu, H. van den Bedem, J.C. Latombe, I. Halperin Landsbergz, R.B. Altman. IEEE/ACM Trans. on Computational Biology and Bioinformatics, 5(4):534-545, Oct.-Dec. 2008.
Modeling Structural Heterogeneity in Proteins from X-Ray Data. A. Dhanik, H. van den Bedem, A. Deacon, and J.C. Latombe. Proc 8^th Workshop on Algorithmic Foundations of Robotics (WAFR), Guanajuato, Mexico, Dec. 7-9, 2008.
Modeling Discrete Heterogeneity in X-ray Diffraction Data by Fitting Multi-Conformers. H. van den Bedem, A. Dhanik, J.C. Latombe and A.M. Deacon. Acta Crystallographica, D65:1107-1117, 2009.

Finding similarities:

Geometric Manipulation of Flexible Molecules. P.W. Finn, D. Halperin, L.E. Kavraki, J.C. Latombe, R. Motwani, C. Shelton, and S. Venkatasubramanian. In Lecture Notes in Computer Science 1148, M.C. Lin and D. Manocha (eds.), Springer, New York, NY, pp. 67-78, 1996.
RAPID: Randomized Pharmacophore Identification for Drug Design. P.W. Finn, L.E. Kavraki, J.C. Latombe, R. Motwani, C. Shelton, S. Venkatasubramanian, and A. Yao. Proc. 13th ACM Symp. on Computational Geometry (SoCG'97), pp. 324-333, 1997. A revised version of this paper also appeared in Computational Geometry: Theory and Applications, 10, pp. 263-272, 1998.
Search Techniques for Rational Drug Design. P.W. Finn, L.E. Kavraki, J.C. Latombe, R. Motwani, and S. Venkatasubramanian. Proc. IASTED Int. Conf. on Intelligent Information Systems, Bahamas, pp. 2-6, Dec. 8-10, 1997.
Efficient Database Screening for Rational Drug Design Using Pharmacophore-Constrained Conformational Search. S.M. LaValle, P.W. Finn, L.E. Kavraki, and J.C. Latombe. Proc. 3rd ACM Int. Conf. on Computational Biology (RECOMB'99), pp. 250-259, 1999.
A Randomized Kinematics-Based Approach to Pharmacophore-Constrained Conformational Search and Database Screening. S.M. LaValle, P.W. Finn, L.E. Kavraki, and J.C. Latombe. J. of Computational Chemistry, 21(9):731-747, July 2000.

Motion pathways:

A Motion Planning Approach to Flexible Ligand Binding. A.P. Singh, J.C. Latombe, and D.L. Brutlag. Proc. 7th Int. Conf. on Intelligent Systems for Molecular Biology (ISMB), AAAI Press, Menlo Park, CA, pp. 252-261, 1999.
Capturing Molecular Energy Landscapes with Probabilistic Conformational Roadmaps. M.S. Apaydin, A.P. Singh, D.L. Brutlag, and J.C. Latombe. Proc. IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, April 2001.
Stochastic Roadmap Simulation: An Efficient Representation and Algorithm for Analyzing Molecular Motion. M.S. Apaydin, D.L. Brutlag, C. Guestrin, D. Hsu. and J.C. Latombe. Proc. RECOMB'02, Washington D.C., pp. 12-21, 2002.
Studying Protein-Ligand Interactions with Stochastic Roadmap Simulaton.. M.S. Apaydin, C. Guestrin, C. Varma, D.L. Brutlag, and J.C. Latombe. Bioinformatics, Vol. 18, Suppl. 2, pp. 18-26, Oct. 2002. (Proc. European Conf. on Computational Biology, ECCB 2002, Saarbrucken, Germany.)
Stochastic Conformational Roadmaps for Computing Ensemble Properties of Molecular Motion M.S. Apaydin, D.L. Brutlag, C. Guestrin, D. Hsu, J.C. Latombe. In Algorithmic Foundations of Robotics V, J.D. Boissonnat, J. Burdick, K. Goldberg, and S. Hutchinson (eds.), Springer Tracts in Advanced Robotics, Springer, pp. 131-147, 2004.
Stochastic Roadmap Simulation: An Efficient Representation and Algorithm for Analyzing Molecular Motion. M.S. Apaydin, D.L. Brutlag, C. Guestrin, D. Hsu, J.C. Latombe, and C. Varma. J. Computational Biology, 10(3-4):257-281, 2003.
Efficient Energy Computation for Monte Carlo Simulation of Proteins. I. Lotan, F. Schwarzer, J.C. Latombe, 3rd Workshop on Algorithms in Bioinformatics (WABI), Budapest, Hungary, Sept., 2003.
Algorithm and Data Structures for Efficient Energy Maintenance During Monte Carlo Simulation of Proteins. I. Lotan, F. Schwarzer, D. Halperin, J.C. Latombe , J. Computational Biology, 11(5):902-932, 2004.
Predicting Experimental Quantities in Protein Folding Kinetics using Stochastic Roadmap Simulation. T.H. Chiang, M.S. Apaydin, D.L. Brutlag, D. Hsu, and J.C. Latombe. Proc. 10^th ACM Annual Int. Conf. on Research in Computational Molecular Biology (RECOMB), Venice, April 2-5, 2006.
Using Stochastic Roadmap Simulation to Predict Experimental Quantities in Protein Folding Kinetics: Folding Rates and Phi-Values. T.H. Chiang, M.S. Apaydin, D.L. Brutlag, D. Hsu, and J.C. Latombe. J. Computational Biology, 14(5): 578-593, June 2007.

Digital Actors

Planning Motions with Intentions. Y. Koga, K. Kondo, J. Kuffner, and J.C. Latombe. Proc. SIGGRAPH'94, pp. 395-408, 1995.
Fast Synthetic Vision, Memory, and Learning for Virtual Humans. J. Kuffner and J.C. Latombe. Proc. of Computer Animation, IEEE, pp. 118-127, May 1999.
Interactive Manipulation Planning for Animated Characters. J. Kuffner and J.C. Latombe. Proc. Pacific Graphics, Hong Kong, Oct. 2000.

Architectural Design

A Performance-Based Approach to Wheelchair Accessible Route Analysis. C.S. Han, K.H. Law, J.C. Latombe, and J.C. Kunz. Advanced Engineering Informatics, 16:53-71, 2002.
A Computational Framework to Simulate Human and Social Behaviors for Egress Analysis. X. Pan, C.S. Han, K. H. Law, J.C. Latombe. Proc. Joint Int. Conf. on Computing and Decision Making in Civil and Building Engineering, Montreal, Canada, June 2006.