Robotics
Motion Planning · Probabilistic Motion Planning · Sampling Strategies for PRM Planning · Kinodynamic Motion Planning · POMDP Planning · Target Tracking · Motion Planning Applications
Computational Biology
Computational Structural Biology · Computational Systems Biology
Others
Geometric Computation
Motion Planning
- H.H. González-Ba nos, D. Hsu, and J.C. Latombe. Motion planning: Recent developments. In S.S. Ge and F.L.
Lewis, editors, Autonomous Mobile Robots: Sensing, Control, Decision-Making and Applications, CRC Press, 2006.
BibTeX PDF - M. Erdmann, D. Hsu, M. Overmars, and F. van der Stappen, editors. Algorithmic Foundations of Robotics VI, Springer,
2005.
BibTeX - J. Basch, L.J. Guibas, D. Hsu, and A.T. Nguyen. Disconnection proofs for motion planning. In Proc. IEEE Int. Conf.
on Robotics & Automation, pp. 1765–1772, 2001.
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Probabilistic Motion Planning
- D. Hsu, J.C. Latombe, and H. Kurniawati. On the probabilistic foundations of probabilistic roadmap planning. Int.
J. Robotics Research, 25(7):627–643, 2006.
BibTeX PDF - D. Hsu, J.C. Latombe, and H. Kurniawati. On the probabilistic foundations of probabilistic roadmap planning. In Proc.
Int. Symp. on Robotics Research, 2005.
BibTeX PDF - D. Hsu. Randomized Single-query Motion Planning in Expansive Spaces. Ph.D. Thesis, Dept. of Computer Science, Stanford
University, Stanford, CA, 2000.
BibTeX PDF - D. Hsu, J.C. Latombe, R. Motwani, and L.E. Kavraki. Capturing the connectivity of high-dimensional geometric spaces by
parallelizable random sampling techniques. In P.M. Pardalos and S. Rajasekaran, editors, Advances in randomized parallel
computing, pp. 159–182, Kluwer Academic Publishers, Boston, MA, 1999.
BibTeX PDF - D. Hsu, J.C. Latombe, and R. Motwani. Path planning in expansive configuration spaces. Int. J. Computational Geometry
& Applications, 9(4-5):495–512, 1999.
BibTeX PDF - D. Hsu, J.C. Latombe, and R. Motwani. Path planning in expansive configuration spaces. In Proc. IEEE Int. Conf.
on Robotics & Automation, pp. 2719–2726, 1997.
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Sampling Strategies for PRM Planning
- H.-L. Cheng, D. Hsu, J.-C. Latombe, and G. Sánchez-Ante. Multi-level free-space dilation for sampling narrow passages
in PRM planning. In Proc. IEEE Int. Conf. on Robotics & Automation, pp. 1255–1260, 2006.
BibTeX PDF - H. Kurniawati and D. Hsu. Workspace-based connectivity oracle: An adaptive sampling strategy for PRM planning. In S.
Akella and others, editors, Proc. Int. Workshop on the Algorithmic Foundations of Robotics (WAFR), Springer, 2006.
BibTeX PDF - D. Hsu, G. Sánchez-Ante, and Z. Sun. Hybrid PRM sampling with a cost-sensitive adaptive strategy. In Proc.
IEEE Int. Conf. on Robotics & Automation, pp. 3885–3891, 2005.
BibTeX PDF - Z. Sun, D. Hsu, T. Jiang, H. Kurniawati, and J. Reif. Narrow passage sampling for probabilistic roadmap planners. IEEE
Trans. on Robotics, 21(6):1105–1115, 2005.
BibTeX PDF - D. Hsu and Z. Sun. Adaptively combining multiple sampling strategies for probabilistic roadmap planning. In Proc.
IEEE Conf. on Robotics, Automation, and Mechatronics, pp. 774–779, 2004.
BibTeX PDF - D. Hsu and Z. Sun. Adaptive hybrid sampling for probabilistic roadmap planning. Technical Report TRA5/04, National
University of Singapore, School of Computing, 2004.
BibTeX PDF - H. Kurniawati and D. Hsu. Workspace importance sampling for probabilistic roadmap planning. In Proc. IEEE/RSJ Int.
Conf. on Intelligent Robots & Systems, pp. 1618–1623, 2004.
BibTeX PDF - D. Hsu, T. Jiang, J. Reif, and Z. Sun. The bridge test for sampling narrow passages with probabilistic roadmap planners.
In Proc. IEEE Int. Conf. on Robotics & Automation, pp. 4420–4426, 2003.
BibTeX PDF - D. Hsu, L.E. Kavraki, J.C. Latombe, R. Motwani, and S. Sorkin. On finding narrow passages with probabilistic roadmap planners.
In P.K. Agarwal and others, editors, Robotics: The Algorithmic Perspective---Proc. Workshop on the Algorithmic Foundations
of Robotics (WAFR), pp. 141–154, A. K. Peters, Wellesley, MA, 1998.
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Kinodynamic Motion Planning
- D. Hsu, R. Kindel, J.C. Latombe, and S. Rock. Randomized kinodynamic motion planning with moving obstacles. Int.
J. Robotics Research, 21(3):233–255, 2002.
BibTeX PDF - D. Hsu, R. Kindel, J.C. Latombe, and S. Rock. Control-based randomized motion planning for dynamic environments. In
B.R. Donald and others, editors, Algorithmic and Computational Robotics: New Directions---Proc. Workshop on the Algorithmic
Foundations of Robotics (WAFR), pp. 247–264, A. K. Peters, Wellesley, MA, 2000.
BibTeX PDF - R. Kindel, D. Hsu, J.C. Latombe, and S. Rock. Kinodynamic motion planning amidst moving obstacles. In Proc. IEEE
Int. Conf. on Robotics & Automation, pp. 537–543, 2000.
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POMDP Planning
- H. Kurniawati, D. Hsu, and W.S. Lee. SARSOP: Efficient point-based POMDP planning by approximating optimally
reachable belief spaces. In Proc. Robotics: Science and Systems, 2008.
BibTeX PDF - D. Hsu, W.S. Lee, and N. Rong. What makes some POMDP problems easy to approximate?. In Advances in Neural Information
Processing Systems (NIPS), 2007.
BibTeX PDF - D. Hsu, W.S. Lee, and N. Rong. Accelerating point-based POMDP algorithms through successive approximations of the optimal
reachable space. Technical Report TRA4/07, National University of Singapore. School of Computing, 2007.
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Target Tracking
- T. Bandyopadhyay, D. Hsu, and Ang Jr., M.H.. Motion strategies for people tracking in cluttered dynamic
environments . In Proc. Int. Symp. on Experimental Robotics, 2008. To appear.
BibTeX PDF - D. Hsu, W.S. Lee, and N. Rong. A point-based POMDP planner for target tracking. In Proc. IEEE Int. Conf. on Robotics
& Automation, pp. 2644–2650, 2008.
BibTeX PDF - T. Bandyopadhyay, Ang Jr., M.H., and D. Hsu. Motion planning for 3-D target tracking among obstacles. In Proc. Int.
Symp. on Robotics Research, 2007.
BibTeX PDF - T. Bandyopadhyay, Y.P. Li, Ang Jr., M.H., and D. Hsu. A greedy strategy for tracking a locally predictable target among
obstacles. In Proc. IEEE Int. Conf. on Robotics & Automation, pp. 2342–2347, 2006.
BibTeX PDF - T. Bandyopadhyay, Y.P. Li, Ang Jr., M.H., and D. Hsu. Stealth tracking of an unpredictable target among obstacles.
In M. Erdmann and others, editors, Algorithmic Foundations of Robotics VI---Proc. Workshop on the Algorithmic Foundations
of Robotics (WAFR), pp. 43–58, Springer, 2004.
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Motion Planning Applications
- J. Yin, Y. Wang, and D. Hsu. Digital violin tutor: An integrated system for beginning violin learners. In Proc.
ACM Multimedia, pp. 976–985, 2005.
BibTeX - J. Yin, A. Dhanik, D. Hsu, and Y. Wang. The creation of a music-driven digital violinist. In Proc. ACM Multimedia,
pp. 476–479, 2004.
BibTeX PDF - D. Hsu, J.C. Latombe, and S. Sorkin. Placing a robot manipulator amid obstacles for optimized execution. In Proc.
IEEE Int. Symp. on Assembly & Task Planning, pp. 280–285, 1999.
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Computational Structural Biology
- A. Nigham, L. Tucker-Kellogg, I. Mihalek, C. Verma, and D. Hsu. pFlexAna: Detecting conformational changes in remotely
related proteins. Nucleic Acids Res., 2008. doi: 10.1093/nar/gkn259. To appear.
BibTeX PDF - T.-H. Chiang, M.S. Apaydin, D.L. Brutlag, D. Hsu, and J.C. Latombe. Using stochastic roadmap simulation to predict experimental
quantities in protein folding kinetics: Folding rates and phi-values. J. Computational Biology, 14(5):578–593,
2007.
BibTeX PDF - A. Nigham and D. Hsu. Protein conformational flexibility analysis with noisy data. In Proc. ACM Int. Conf. on Computational
Biology (RECOMB), pp. 396–411, 2007.
BibTeX PDF - T.-H. Chiang, M.S. Apaydin, D.L. Brutlag, D. Hsu, and J.C. Latombe. Predicting experimental quantities in protein folding
kinetics using stochastic roadmap simulation. In Proc. ACM Int. Conf. on Computational Biology (RECOMB), pp. 410–424,
Springer, 2006.
BibTeX PDF - M.S. Apaydin, D.L. Brutlag, C. Guestrin, D. Hsu, J.C. Latombe, and C. Varma. Stochastic roadmap simulation: an efficient
representation and algorithm for analyzing molecular motion. J. Computational Biology, 10(3-4):247–281, 2003.
BibTeX PDF - M.S. Apaydin, D.L. Brutlag, C. Guestrin, D. Hsu, and J.C. Latombe. Stochastic roadmap simulation: An efficient representation
and algorithm for analyzing molecular motion. In Proc. ACM Int. Conf. on Computational Biology (RECOMB), pp. 12–21,
2002.
BibTeX PDF - M.S. Apaydin, D.L. Brutlag, C. Guestrin, D. Hsu, and J.C. Latombe. Stochastic conformational roadmaps for computing ensemble
properties of molecular motion. In J.-D. Boissonnat and others, editors, Algorithmic Foundations of Robotics V---Proc.
Workshop on the Algorithmic Foundations of Robotics (WAFR), pp. 131–148, Springer, 2002.
BibTeX - R.-P. Berretty, D. Hsu, L. Kettner, A. Mascarenhas, M.R. Redinbo, and J. Snoeyink. Ligand binding to the pregnane X receptor
by geometric matching of hydrogen bonding. In L. Florea and others, editors, Currents in Computational Molecular Biology,
pp. 22–23, 2002. The booklet contains extended poster abstracts from RECOMB 2002.
BibTeX PDF - D. Brutlag, M.S. Apaydin, C. Guestrin, D. Hsu, C. Varma, A. Singh, and J.-C. Latombe. Using robotics to fold proteins and
dock ligands. Bioinformatics, 18:S74–S83, 2002.
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Computational Systems Biology
- G. Koh, D. Hsu, and P.S. Thiagarajan. Composition of signaling pathway models and its application to parameter estimation.
In ACM Int. Conf. on Computational Biology (RECOMB) Poster Book, 2008.
BibTeX PDF - G. Koh, L. Tucker-Kellogg, D. Hsu, and P.S. Thiagarajan. Globally consistent pathway parameter estimates through belief
propagation. In Proc. Workshop on Algorithms in Bioinformatics (WABI), 2007.
BibTeX PDF - G. Koh, H.F.C. Teong, M.-V. Clément, D. Hsu, and P.S. Thiagarajan. A decompositional approach to parameter estimation
in pathway modeling: A case study of the Akt and MAPK pathways and their crosstalk. Bioinformatics, 22(14):271–280,
2006. Special issue on Int. Conf. on Intelligent Systems for Molecular Biology (ISMB) 2006.
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Geometric Computation
- X. Wu, D. Hsu, and A.K.H. Tung. Efficient constrained Delaunay triangulation for large spatial databases. Technical
Report TRA1/06, National University of Singapore, School of Computing, 2006.
BibTeX PDF - C. Xia, D. Hsu, and A.K.H. Tung. A fast filter for obstructed nearest neighbour queries. In Proc. British National
Conferences on Databases, 2004.
BibTeX - L.J. Guibas, D. Hsu, and L. Zhang. A hierarchical method for real-time distance computation among moving convex bodies.
Computational Geometry: Theory and Applications, 15(1-3):51–68, 2000.
BibTeX PDF - L.J. Guibas, D. Hsu, and L. Zhang. H-Walk: hierarchical distance computation for moving convex bodies. In Proc.
ACM Symp. on Computational Geometry, pp. 265–273, 1999.
BibTeX PDF - H. Alt, D. Hsu, and J. Snoeyink. Computing the largest inscribed isothetic rectangle. In Proc. Canadian Conf. on
Computational Geometry, pp. 67–72, 1995.
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