Publications

in Journals

  • Daman Bareiss, Jur van den Berg. Generalized Reciprocal Collision Avoidance. Int. Journal of Robotics Research, In Press, 2015.[pdf]

  • Roni Stern, Ariel Felner, Jur van den Berg, Rami Puzis, Rajat Shah, Ken Goldberg. Potential-Based Bounded-Cost Search and Anytime Non-Parametric A*. Artificial Intelligence, vol 214, pp. 1-25, 2014. [pdf, link]

  • Jur van den Berg, Sachin Patil, Ron Alterovitz. Motion planning under uncertainty using iterative local optimization in belief space. Int. Journal of Robotics Research, vol. 31(11), pp. 1263-1278, 2012. [pdf, link]

  • Stephen Miller, Jur van den Berg, Mario Fritz, Trevor Darrell, Ken Goldberg, Pieter Abbeel. A geometric approach to robotic laundry folding. Int. Journal of Robotics Research, vol. 31(2), pp. 249-267, 2012. [pdf, link]

  • Jur van den Berg, Pieter Abbeel, Ken Goldberg. LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information. Int. Journal of Robotics Research, vol. 30(7), pp. 895-913, 2011. [pdf, link]

  • Jamie Snape, Jur van den Berg, Stephen Guy, Dinesh Manocha. The Hybrid Reciprocal Velocity Obstacle. IEEE Trans. on Robotics, vol. 27(4), pp. 696-706, 2011. [pdf, link]

  • Sachin Patil, Jur van den Berg, Sean Curtis, Ming Lin, Dinesh Manocha. Directing Crowd Simulations Using Navigation Fields. IEEE Trans. on Visualization and Computer Graphics, vol. 17(2), pp. 244-254, 2011. [pdf, link]

  • Jason Sewall, Jur van den Berg, Ming Lin, Dinesh Manocha. Virtualized Traffic: Reconstructing Traffic Flows from Discrete Spatio-Temporal Data. IEEE Trans. on Visualization and Computer Graphics, vol. 17(1), pp. 26-37, 2011. [pdf, link]

  • Jur van den Berg, Mark Overmars. Planning Time-Minimal Safe Paths amidst Unpredictably Moving Obstacles. Int. Journal of Robotics Research, vol. 27(11-12), pp. 1274-1294, 2008. [pdf, link]

  • Ron Wein, Jur van den Berg, Dan Halperin. Planning High-Quality Paths and Corridors amidst Obstacles. Int. Journal of Robotics Research, vol. 27(11-12), pp. 1213-1231, 2008. [pdf, link]

  • Ron Wein, Jur van den Berg, Dan Halperin. The visibility-Voronoi complex and its applications. Computational Geometry: Theory and Applications, vol. 36(1), pp. 66-87, 2007. [pdf, link]

  • Jur van den Berg, Mark Overmars. Using Workspace Information as a Guide to Non-uniform Sampling in Probabilistic Roadmap Planners. Int. Journal of Robotics Research, vol. 24 (12), pp. 1055-1072, 2005. [pdf, link]

  • Jur van den Berg, Mark Overmars. Roadmap-based Motion Planning in Dynamic Environments. IEEE Transactions on Robotics, vol. 21 (5), pp. 885-897, 2005. [pdf, link]

  • Henk Bekker, Jur van den Berg, Tsjerk Wassenaar. A Method to Obtain a Near-Minimal-Volume Molecular Simulation of a Macromolecule, Using Periodic Boundary Conditions and Rotational Constraints. Journal of Computational Chemistry, vol. 25 (8), pp. 1037-1046, 2004. [pdf, link]

in Conference Proceedings (peer-reviewed)

  • Wen Sun, Jur van den Berg, Ron Alterovitz. Stochastic Extended LQR: Optimization-based Motion Planning Under Uncertainty. Proc. Workshop on Algorithmic Foundations on Robotics - WAFR, 2014. [pdf, project website]

  • Jur van den Berg. Iterated LQR Smoothing for Locally-Optimal Feedback Control of Systems with Non-Linear Dynamics and Non-Quadratic Cost. Proc. American Control Conference - ACC, 2014. [pdf, project website, link]

  • Liang He, Jur van den Berg. Efficient Exact Collision-Checking of 3-D Rigid Body Motions using Linear Transformations and Distance Computations in Workspace. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2014. [pdf, project website, link]

  • Dustin J. Webb, Kyle L. Crandall, Jur van den Berg. Online Parameter Estimation via Real-Time Replanning of Continuous Gaussian POMDPs. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2014. [pdf, project website, link]

  • Jason Israelsen, Matt Beall, Daman Bareiss, Daniel Stuart, Eric Keeney, Jur van den Berg. Automatic Collision Avoidance for Manually Tele-operated Unmanned Aerial Vehicles. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2014. [pdf, video, project website, link]

  • Jur van den Berg. Extended LQR: Locally-Optimal Feedback Control for Systems with Non-Linear Dynamics and Non-Quadratic Cost. Proc. International Symposium on Robotics Research - ISRR, 2013. [pdf, project website]

  • Wen Sun, Luis Torres, Jur van den Berg, Ron Alterovitz. Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision. Proc. International Symposium on Robotics Research - ISRR, 2013. [pdf]

  • Alex Lee, Yan Duan, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg, Pieter Abbeel. Sigma Hulls for Gaussian Belief Space Planning for Imprecise Articulated Robots amid Obstacles. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, 2013. [pdf]

  • Dustin J. Webb, Jur van den Berg. Kinodynamic RRT*: Asymptotically Optimal Motion Planning for Robots with Linear Dynamics. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2013. [pdf, video, project website]

  • Daman F. Bareiss, Jur van den Berg. Reciprocal Collision Avoidance for Robots with Linear Dynamics using LQR-Obstacles. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2013. [pdf, video, project website]

  • Liang He, Jur van den Berg. Meso-Scale Planning for Multi-Agent Navigation. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2013. [pdf, video]

  • Stephen J. Guy, Jur van den Berg, Wenxi Liu, Rynson Lau, Ming Lin, Dinesh Manocha. A Statistical Similarity Measure for Aggregate Crowd Dynamics. Proc. SIGGRAPH Asia, 2012. [pdf, project website]

  • Jur van den Berg, Sachin Patil, Ron Alterovitz. Efficient Approximate Value Iteration for Continuous Gaussian POMDPs. Proc. AAAI Conf. on Artificial Intelligence - AAAI, 2012. [pdf]

  • Jur van den Berg, David Wilkie, Stephen J. Guy, Marc Niethammer, Dinesh Manocha. LQG-Obstacles: Feedback Control with Collision Avoidance for Mobile Robots with Motion and Sensing Uncertainty. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2012. [pdf, video, project website]

  • Sachin Patil, Jur van den Berg, Ron Alterovitz. Estimating Probability of Collision for Safe Planning under Gaussian Motion and Sensing Uncertainty. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2012. [pdf]

  • Leonard Jaillet, Judy Hoffman, Jur van den Berg, Pieter Abbeel, Josep Porta, Ken Goldberg. EG-RRT: Environment-Guided Random Trees for Kinodynamic Motion Planning with Uncertainty and Obstacles. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, 2011. [pdf]

  • Jur van den Berg, Sachin Patil, Ron Alterovitz. Motion Planning under Uncertainty using Differential Dynamic Programming in Belief Space. Proc. Int. Symposium of Robotics Research - ISRR, 2011. [pdf]

  • Jur van den Berg, Rajat Shah, Arthur Huang, Ken Goldberg. ANA*: Anytime Nonparametric A*. Proc. AAAI Conference on Artificial Intelligence - AAAI, 2011. [pdf, project website]

  • David Wilkie, Jur van den Berg, Ming Lin, Dinesh Manocha. Self-Aware Traffic Route Planning. Proc. AAAI Conference on Artificial Intelligence - AAAI, 2011. [pdf]

  • Sachin Patil, Jur van den Berg, Ron Alterovitz. Motion Planning Under Uncertainty In Highly Deformable Environments. Proc. Robotics: Science and Systems - RSS, 2011. [pdf]

  • Jur van den Berg, Jamie Snape, Stephen Guy, Dinesh Manocha. Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2011. [pdf, project website]

  • Jamie Snape, Stephen Guy, Jur van den Berg, Dinesh Manocha. Smooth Coordination and Navigation for Multiple Differential-Drive Robots. Proc. Int. Symp. on Experimental Robotics - ISER, 2010. [pdf]

  • Jur van den Berg, Stephen Miller, Ken Goldberg, Pieter Abbeel. Gravity-Based Robotic Cloth Folding. Proc. Workshop on Algorithmic Foundation of Robotics - WAFR, 2010. [pdf, project website]

  • Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Ken Goldberg. LQG-Based Planning, Sensing, and Control of Steerable Needles. Proc. Workshop on Algorithmic Foundation of Robotics - WAFR, 2010. [pdf]

  • Jamie Snape, Stephen Guy, Jur van den Berg, Dinesh Manocha. Smooth and Collision-Free Navigation for Multiple Robots Under Differential-Drive Constraints. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, 2010. [pdf, project website]

  • Jur van den Berg, Pieter Abbeel, Ken Goldberg. LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information. Proc. Robotics: Science and Systems - RSS, 2010. [pdf]

  • Jur van den Berg, Stephen Miller, Daniel Duckworth, Humphrey Hu, Andrew Wan, Xiao-Yu Fu, Ken Goldberg, Pieter Abbeel. Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations. Best medical robotics paper award. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2010. [pdf, video 1, video 2]

  • Jur van den Berg, Stephen Guy, Ming Lin, Dinesh Manocha. Reciprocal n-body Collision Avoidance. Proc. Int. Symposium of Robotics Research - ISRR, 2009. [pdf]

  • Jamie Snape, Jur van den Berg, Stephen Guy, Dinesh Manocha. Independent Navigation of Multiple Robots with Hybrid Reciprocal Velocity Obstacles. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, 2009. [pdf, project website]

  • David Wilkie, Jur van den Berg, Dinesh Manocha. Generalized Velocity Obstacles. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, 2009. [pdf]

  • Enrique Dunn, Jur van den Berg, Jan-Michael Frahm. Developing Visual Sensing Strategies through Next Best View Planning. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, 2009. [pdf]

  • Jur van den Berg, Jack Snoeyink, Ming Lin, Dinesh Manocha. Centralized Path Planning for Multiple Robots: Optimal Decoupling into Sequential Plans. Proc. Robotics: Science and Systems - RSS, 2009. [pdf]

  • Jur van den Berg, Jason Sewall, Ming Lin, Dinesh Manocha. Virtualized Traffic: Reconstructing Traffic Flows from Discrete Spatio-Temporal Data. Proc. IEEE Virtual Reality - VR, 2009. [pdf, project website]

  • Jur van den Berg, Mike Stilman, James Kuffner, Ming Lin, Dinesh Manocha. Path Planning among Movable Obstacles: a Probabilistically Complete Approach. Proc. Workshop on Algorithmic Foundation of Robotics - WAFR, 2008. [pdf]

  • Hengchin Yeh, Sean Curtis, Sachin Patil, Jur van den Berg, Dinesh Manocha, Ming Lin. Composite Agents. Proc. ACM SIGGRAPH Symposium on Computer Animation - SCA, 2008. [pdf, project website]

  • Jur van den Berg, Sachin Patil, Jason Sewall, Dinesh Manocha, Ming Lin. Interactive Navigation of Individual Agents in Crowded Environments. Proc. ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games - I3D, 2008. [pdf, project website]

  • Jur van den Berg, Ming Lin, Dinesh Manocha. Reciprocal Velocity Obstacles for Real-Time Multi-Agent Navigation. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2008. [pdf, project website]

  • Jur van den Berg, Mark Overmars. Kinodynamic Motion Planning on Roadmaps in Dynamic Environments. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, pp. 4253-4258, 2007. [pdf]

  • Dennis Nieuwenhuisen, Jur van den Berg, Mark Overmars. Efficient Path Planning in Changing Environments. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, pp. 3295-3301, 2007. [pdf]

  • Ron Wein, Jur van den Berg, Dan Halperin. Planning Near-Optimal Corridors amidst Obstacles. Proc. Workshop on Algorithmic Foundations of Robotics - WAFR, 2006. [pdf]

  • Jur van den Berg, Mark Overmars. Planning the Shortest Safe Path amidst Unpredictably Moving Obstacles. Proc. Workshop on Algorithmic Foundations of Robotics - WAFR, 2006. [pdf]

  • Jur van den Berg, Mark Overmars. Path Planning in Repetitive Environments. Proc. IEEE Int. Conf. on Methods and Models in Automation and Robotics - MMAR, pp. 657-662, 2006. [pdf]

  • Jur van den Berg, Dave Ferguson, James Kuffner. Anytime Path Planning and Replanning in Dynamic Environments. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, pp. 2366-2371, 2006. [pdf]

  • Jur van den Berg, Mark Overmars. Prioritized Motion Planning for Multiple Robots. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, pp. 2217-2222, 2005. [pdf]

  • Jur van den Berg, Dennis Nieuwenhuisen, LĂ©onard Jaillet, Mark Overmars. Creating Robust Roadmaps for Motion Planning in Changing Environments. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, pp. 2415-2421, 2005. [pdf]

  • Ron Wein, Jur van den Berg, Dan Halperin. The Visibility-Voronoi Complex and its Applications. Proc. Ann. Symposium on Computational Geometry - SoCG, pp. 63-72, 2005. [pdf]

  • Jur van den Berg, Mark Overmars. Roadmap-based Motion Planning in Dynamic Environments. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, pp. 1598-1605, 2004. [pdf]

  • Jur van den Berg, Mark Overmars. Using workspace information as a guide to non-uniform sampling in probabilistic roadmap planners. Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, pp. 453-460, 2004. [pdf]

  • Henk Bekker, Jur van den Berg, Tsjerk Wassenaar. Constructing a Near-Minimal-Volume Computational Box for Molecular Dynamics Simulations with Periodic Boundary Conditions. Proc. Int. Conf. on Computational Science - ICCS, vol. 2659 of Lecture Notes in Computer Science, pp. 70-79, 2003. [pdf]

at Informal Conferences (not peer-reviewed)

  • Parker Conroy, Daman Bareiss, Matt Beall, Jur van den Berg. 3-D Reciprocal Collision Avoidance on Physical Quadrotor Helicopters with On-Board Sensing for Relative Positioning. arXiv:1411.3794 [cs.RO], 2014. [pdf, link]

  • Daman F. Bareiss, Jur van den Berg. Reciprocal Collision Avoidance for Quadrotor Helicopters using LQR-Obstacles. AAAI Workshop on Multi-Agent Pathfinding - WoMP, 2012. [pdf]

  • Jamie Snape, Stephen J. Guy, Ming Lin, Dinesh Manocha, Jur van den Berg. Reciprocal Collision Avoidance and Multi-Agent Navigation for Video Games. AAAI Workshop on Multi-Agent Pathfinding - WoMP, 2012. [pdf]

  • Ming Lin, Stephen Guy, Rahul Narain, Jason Sewall, Sachin Patil, Jatin Chhugani, Abhinav Golas, Jur van den Berg, Sean Curtis, David Wilkie, Paul Merrell, Changkyu Kim, Nadathur Satish, Pradeep Dubey, Dinesh Manocha. Interactive Modeling, Simulation and Control of Large-Scale Crowds and Traffic. Proc. Motion in Games - MiG, 2009. [pdf]

  • Ming Lin, Avneesh Sud, Jur van den Berg, Russell Gayle, Sean Curtis, Hengchin Yeh, Stephen Guy, Eric Andersen, Sachin Patil, Jason Sewall, Dinesh Manocha. Real-Time Path Planning for Multi-Agent and Crowd Simulation. Proc. Motion in Games - MiG, 2008. [pdf]

  • Jur van den Berg, Mark Overmars. Computing Shortest Paths amidst Growing Discs in the Plane. Proc. European Workshop on Computational Geometry - EWCG, pp. 59-62, 2006. [pdf]

  • Ron Wein, Jur van den Berg, Dan Halperin. The Visibility-Voronoi Complex and its Applications. Proc. European Workshop on Computational Geometry - EWCG, pp. 151-154, 2005. [pdf]

  • Jur van den Berg, Mark Overmars. Using watershed segmentation in robot motion planning. Proc. Annual Conference of the Advanced School for Computing and Imaging - ASCI, pp. 151-158. 2004. [pdf]

Theses

  • Jur van den Berg. Path Planning in Dynamic Environments. PhD Thesis, Utrecht University, The Netherlands, 2007 (defended on 4-4-2007). [pdf, cover]

  • Jur van den Berg. Calculating near-densest lattice packings of non-convex objects to minimize computational box volumes in Molecular Dynamics simulations. MSc Thesis, University of Groningen, The Netherlands, 2003. [pdf]