Yi‐Jen Chiang

Papers

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About

Yi‑Jen Chiang is a leading researcher in algorithmic robotics, best known for pioneering the theory and practice of **resolution-exact motion planning**. Her work addresses a fundamental challenge: designing robot motion planners that are both theoretically sound (guaranteeing correctness and completeness) and practically implementable for complex, high‑degree‑of‑freedom (DOF) systems. Chiang introduced the concept of **soft predicates** for collision detection, a clever balancing act that enables efficient, resolution‑exact algorithms without sacrificing implementability. Her most cited papers—including *"Soft Subdivision Motion Planning for Complex Planar Robots"* (7 citations) and *"Resolution‑Exact Algorithms for Link Robots"* (7 citations)—demonstrate how soft subdivision frameworks can handle planar robots with many links. She later extended this approach to spatial robots, such as rods and rings moving in R³ × S² (5 DOF), as shown in *"Rods and Rings: Soft Subdivision Planner for R³ × S²"* (2 citations). These contributions are critical for applications ranging from manufacturing to autonomous systems, where correct, complete, and practical path planning remains a long‑standing open problem. Chiang’s work bridges the gap between rigorous algorithmic guarantees and real‑world deployment, making her a key figure in modern motion‑planning research.