Thomas, Shawna individual record
Instructional Assistant Professor
overview

Randomized motion planning algorithms can be applied to any type of robot, from simple rigid bodies to complex articulated linkages. We abstract the particular motion planning problem into configuration space (C-space) where each point in C-space represents a particular configuration/placement of the robot. Invalid configurations (e.g., in-collision, high energy) become C-obstacles in this higher dimensional space. We then use randomized sampling to construct a graph or tree in C-space and use this data structure to extract feasible trajectories. We explore different general purpose techniques to improve planner performance as well as applications to computational biology.

education and training
selected publications
Academic Articles12
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  • Motes, J., Sandstrom, R., Lee, H., Thomas, S., & Amato, N. M. (2020). Multi-Robot Task and Motion Planning With Subtask Dependencies. IEEE Robotics and Automation Letters. 5(2), 3338-3345.
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  • Amato, N. M., Hager, G., Thomas, S., & Torres-Torriti, M (2019). Special issue on the International Symposium on Robotics Research, 2017. The International Journal of Robotics Research. 38(12-13), 1327-1328.
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  • Motes, J., Sandstrom, R., Adams, W., Ogunyale, T., Thomas, S., & Amato, N. M. (2019). Interaction Templates for Multi-Robot Systems. IEEE Robotics and Automation Letters. 4(3), 2926-2933.
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  • Amato, N. M., Ekenna, C., Thomas, S., & Roy, N. (2018). Editorial. The International Journal of Robotics Research. 37(10), 1115-1116.
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Chapters1
  • Ghosh, M., Thomas, S., & Amato, N. M (2020). Fast Collision Detection for Motion Planning Using Shape Primitive Skeletons. ROBOTICS RESEARCH, VOL 2. Springer Proceedings in Advanced Robotics. 36-51. Springer International Publishing.
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Conference Papers45
  • Thomas, S., & Lightfoot, R (2021). Convergence in Collaborative Course Design while Remaining Virtual. 2021 IEEE Frontiers in Education Conference (FIE), 2021 IEEE Frontiers in Education Conference (FIE). 00, 1-8.
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  • Hammond, T. A., Ray, S., Taele, P., Thomas, S., Watson, K., Stanley, C. A., & Polsley, S. (2021). The Disconnect Between Engineering Students’ Desire to Discuss Racial Injustice in the Classroom and Faculty Anxieties. 2021 ASEE Virtual Annual Conference Content Access, 2021 ASEE Virtual Annual Conference.
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  • Uwacu, D., Ren, A., Thomas, S., & Amato, N. M (2020). Using Guided Motion Planning to Study Binding Site Accessibility. Proceedings of the 11th ACM International Conference on Bioinformatics, Computational Biology and Health Informatics, BCB '20: 11th ACM International Conference on Bioinformatics, Computational Biology and Health Informatics. 1-10.
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  • Ebinger, T., Kaden, S., Thomas, S., Andre, R., Amato, N. M., & Thomas, U. (2018). A General and Flexible Search Framework for Disassembly Planning. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018 IEEE International Conference on Robotics and Automation (ICRA). 00, 1-8.
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  • Sandstrem, R., Bregger, A., Smith, B., Thomas, S., & Amato, N. M. (2018). Topological Nearest-Neighbor Filtering for Sampling-Based Planners. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018 IEEE International Conference on Robotics and Automation (ICRA). 00, 3053-3060.
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Repository Documents / Preprints2
  • Uwacu, D., Rex, R., Wang, B., Thomas, S., & Amato, N. M (2020). Annotated-skeleton Biased Motion Planning for Faster Relevant Region Discovery.
  • Amato, N., Anderson, C., Chirikjian, G., Chitsaz, H., Desaraju, V., Ekenna, C., ... Yan, Y (2016). Proceedings of the 1st International Workshop on Robot Learning and Planning (RLP 2016).
open teaching materials
researcher on
open teaching materials
Email
sthomas@tamu.edu
First Name
Shawna
Last Name
Thomas
mailing address
Texas A&M University; Computer Science & Engineering; 3112 TAMU
College Station, TX 77843-3112
USA