Publications

  • Journals
  • Edited volumes
  • Conference proceedings and book chapters
  • Theses


    Journals

    Constantinos Charalambous, Zerrin Yumak, A. Frank van der Stappen,
    Audio-driven emotional speech animation for interactive virtual characters,
    Computer Animation and Virtual Worlds 30 (2019), e1892.

    Sybren A. Stüvel, A. Frank van der Stappen, Arjan Egges,
    Perception of collisions between virtual characters,
    Computer Animation and Virtual Worlds 28 (2017), e1728.

    Sybren A. Stüvel, Nadia Magnenat-Thalmann, Daniel Thalmann, A. Frank van der Stappen, Arjan Egges,
    Torso crowds,
    IEEE Transactions on Visualization and Computer Graphics 23(7) (2017), pp. 1823-1837.

    Fatemeh Panahi, Mansoor Davoodi, A. Frank van der Stappen,
    Orienting parts with shape variation,
    IEEE Transactions on Automation Science and Engineering 14(2) (2017), pp. 1109-1118.

    Jeffrey Mahler, Florian T. Pokorny, Zoe McCarthy, A. Frank van der Stappen, Ken Goldberg,
    Energy-bounded caging: Formal definition and 2d energy lower bound algorithm based on weighted alpha shapes,
    IEEE Robotics and Automation Letters 1(1) (2016), pp. 508-515.

    Fatemeh Panahi, A. Frank van der Stappen,
    Reprint of: Bounding the locus of the center of mass for a part with shape variation,
    Computational Geometry: Theory and Applications 48(5) (2015), pp. 398-406.

    Aviv Adler, Fatemeh Panahi, A. Frank van der Stappen, Ken Goldberg,
    Efficient proximity probing algorithms for metrology,
    IEEE Transactions on Automation Science and Engineering 12(1) (2015), pp. 84-95.

    Fatemeh Panahi, A. Frank van der Stappen,
    Bounding the locus of the center of mass for a part with shape variation,
    Computational Geometry: Theory and Applications 47(8) (2014), pp. 847-855.

    Sybren A. Stüvel, Nadia Magnenat-Thalmann, Daniel Thalmann, Arjan Egges, A. Frank van der Stappen,
    Hierarchical structures for collision checking between virtual characters,
    Computer Animation and Virtual Worlds 25(3/4) (2014), pp. 333-342.

    Thomas Geijtenbeek, Michiel van de Panne, A. Frank van der Stappen,
    Flexible muscle-based locomotion for bipedal creatures,
    ACM Transactions on Graphics 32(6) (2013), pp. 206:1-206:11.

    Elon Rimon, A. Frank van der Stappen,
    Immobilizing 2d serial chains in form closure grasps,
    IEEE Transactions on Robotics 28(1) (2012), pp. 32-43.

    Jae-Sook Cheong, Heinrich Kruger, A. Frank van der Stappen,
    Output-sensitive computation of force-closure grasps of a semi-algebraic object,
    IEEE Transactions on Automation Science and Engineering 8(3) (2011), pp. 495-505.

    Mostafa Vahedi, A. Frank van der Stappen,
    Caging polygons with two and three fingers,
    International Journal of Robotics Research 27(11/12) (2008), pp. 1308-1324.

    Onno Goemans, A. Frank van der Stappen,
    On the design of traps for feeding 3d parts on vibratory tracks,
    Robotica 26(4) (2008), pp. 537-550.

    Esther Moet, Marc van Kreveld, A. Frank van der Stappen,
    On realistic terrains,
    Computational Geometry: Theory and Applications 41(1/2) (2008), pp. 48-67.
    (Technical Report version)

    Dennis Nieuwenhuisen, A. Frank van der Stappen, Mark H. Overmars,
    Pushing a disk using compliance,
    IEEE Transactions on Robotics 23(3) (2007), pp. 431-442.
    (Technical Report version)

    Jae-Sook Cheong, A. Frank van der Stappen, Ken Goldberg, Mark H. Overmars, Elon Rimon,
    Immobilizing hinged polygons,
    International Journal on Computational Geometry and Applications 17(1) (2007), pp. 45-69.
    (Technical Report version)

    Onno Goemans, Ken Goldberg, A. Frank van der Stappen,
    Blades for feeding 3D parts on vibratory tracks,
    Assembly Automation 26(3) (2006), pp. 221-226.
    Highly Commended Paper Award

    Marc van Kreveld, A. Frank van der Stappen,
    Approximate unions of lines and Minkowski sums,
    Algorithmica 45(1) (2006), pp. 91-107.
    (Technical Report version)

    Jae-Sook Cheong, Herman J. Haverkort, A. Frank van der Stappen,
    Computing all immobilizing grasps of a simple polygon with few contacts,
    Algorithmica 44(2) (2006), pp. 117-136.
    (Technical Report version)

    Dezhen Song, A. Frank van der Stappen, Ken Goldberg,
    Exact algorithms for single frame selection on multi-axis satellites,
    IEEE Transactions on Automation Science and Engineering 3(1) (2006), pp. 16-28.

    Mark de Berg, Joachim Gudmundsson, Matthew J. Katz, Christos Levcopoulos, Mark H. Overmars, A. Frank van der Stappen,
    TSP with neighborhoods of varying size,
    Journal of Algorithms 57(1) (2005), pp. 22-36.
    (Technical Report version)

    Mark de Berg, Haggai David, Matthew J. Katz, Mark H. Overmars, A. Frank van der Stappen, Jules Vleugels,
    Guarding scenes against invasive hypercubes,
    Computational Geometry: Theory and Applications 26(2) (2003), pp. 99-117.
    (Technical Report version)

    Mark de Berg, Matthew J. Katz, A. Frank van der Stappen, Jules Vleugels,
    Realistic input models for geometric algorithms,
    Algorithmica 34(1) (2002), pp. 81-97.
    (Technical Report version)

    Mark de Berg, Matthew J. Katz, Mark H. Overmars, A. Frank van der Stappen, Jules Vleugels,
    Models and motion planning,
    Computational Geometry: Theory and Applications 23(1) (2002), pp. 53-68.
    (Technical Report version)

    Mark de Berg, A. Frank van der Stappen,
    On the fatness of Minkowski sums,
    Information Processing Letters 81(5) (2002), pp. 259-264.
    (Technical Report version)

    Robert-Paul Berretty, Mark H. Overmars, A. Frank van der Stappen,
    Orienting polyhedral parts by pushing,
    Computational Geometry: Theory and Applications 21(1/2) (2002), pp. 21-38.
    (Technical Report version)

    Robert-Paul Berretty, Ken Goldberg, Mark H. Overmars, A. Frank van der Stappen,
    Trap design for vibratory bowl feeders,
    International Journal of Robotics Research 20(11) (2001), pp. 891-908.
    (Technical Report version)

    A. Frank van der Stappen, Chantal Wentink, Mark H. Overmars,
    Computing immobilizing grasps of polygonal parts,
    International Journal of Robotics Research 19(5) (2000), pp. 467-479.
    (Technical Report version)

    A. Frank van der Stappen, Kem Goldberg, Mark H. Overmars,
    Geometric eccentricity and the complexity of manipulation plans,
    Algorithmica 26(3/4) (2000), pp. 494-514.
    (Technical Report version)

    Boris Aronov, Mark de Berg, A. Frank van der Stappen, Petr Švestka, Jules Vleugels,
    Motion planning for multiple robots,
    Discrete & Computational Geometry 22(4) (1999), pp. 505-525.
    (Technical Report version)

    Robert-Paul Berretty, Mark H. Overmars, A. Frank van der Stappen,
    Dynamic motion planning in low obstacle density environments,
    Computational Geometry: Theory and Applications 11(3/4) (1998), pp. 157-173.
    (Technical Report version)

    A. Frank van der Stappen, Mark H. Overmars, Mark de Berg, Jules Vleugels,
    Motion planning in environments with low obstacle density,
    Discrete & Computational Geometry 20(4) (1998), pp. 561-587.
    (Technical Report version)

    Robert-Paul Berretty, Ken Goldberg, Mark H. Overmars, A. Frank van der Stappen,
    Computing fence designs for orienting parts,
    Computational Geometry: Theory and Applications 10(4) (1998), pp. 249-262.
    (Technical Report version)

    Mark H. Overmars, A. Frank van der Stappen,
    Range searching and point location among fat objects,
    Journal of Algorithms 21(3) (1996), pp 629-656.
    (Technical Report version)

    A. Frank van der Stappen,
    The complexity of the free space for motion planning amidst fat obstacles,
    Journal of Intelligent & Robotic Systems 11(1/2) (1994), pp. 21-44.
    (Technical Report version)

    A. Frank van der Stappen, Dan Halperin, Mark H. Overmars,
    The complexity of the free space for a robot moving amidst fat obstacles,
    Computational Geometry: Theory and Applications 3(6) (1993), pp. 353-373.
    (Technical Report version)

    A. Frank van der Stappen, Rob H. Bisseling, Johannes G. G. van de Vorst,
    Parallel sparse LU decomposition on a mesh network of transputers,
    SIAM Journal on Matrix Analysis and Applications 14(3) (1993), pp. 853-879.


    Edited volumes

    H. Levent Akin, Nancy Amato, Volkan Işler, A. Frank van der Stappen,
    International Journal of Robotics Research 35(5) (2016)
    Special issue devoted to WAFR 2014.

    A. Frank van der Stappen, H. Levent Akin, Nancy Amato, Volkan Işler,
    IEEE Transactions on Automation Science and Engineering 13(2) (2016).
    Special section (Part 2) devoted to WAFR 2014.

    A. Frank van der Stappen, H. Levent Akin, Nancy Amato, Volkan Işler,
    IEEE Transactions on Automation Science and Engineering 12(4) (2015).
    Special section (Part 1) devoted to WAFR 2014.

    H. Levent Akin, Nancy Amato, Volkan Işler, A. Frank van der Stappen,
    Algorithmic Foundations of Robotics XI,
    Springer Tracts in Advanced Robotics 107, Springer-Verlag Berlin Heidelberg (2015).

    Michael A. Erdmann, David Hsu, Mark H. Overmars, A. Frank van der Stappen,
    International Journal of Robotics Research 24(11) (2005).
    Special issue devoted to WAFR 2004.

    Michael A. Erdmann, David Hsu, Mark H. Overmars, A. Frank van der Stappen,
    Algorithmic Foundations of Robotics VI,
    Springer Tracts in Advanced Robotics 17, Springer-Verlag Berlin Heidelberg (2005).


    Conference proceedings and book chapters

    A. Frank van der Stappen, Mansoor Davoodi,
    On sufficient numbers of finger to immobilize 3d chains of polyhedra,
    Proc. of the IEEE Conference on Automation Science and Engineering (2019).

    Constantinos Charalambous, Zerrin Yumak, A. Frank van der Stappen,
    Audio-driven emotional speech animation,
    Proc. of Eurographics (Posters) (2018), pp. 23-24.

    Roel Duits, Arjan Egges, A. Frank van der Stappen,
    A closed-form solution for human finger positioning,
    Proc. of the ACM SIGGRAPH Conference on Motion in Games (2015), pp. 73-78.

    Sybren A. Stüvel, M. (Thijs) F. de Goeij, A. Frank van der Stappen, Arjan Egges
    An analysis of maneuvering in dense crowds,
    Proc. of the ACM SIGGRAPH Conference on Motion in Games (2015), pp. 85-90.

    Fatemeh Panahi, Aviv Adler, A. Frank van der Stappen,
    Pose statistics for eccentric parts,
    Proc. of the IEEE Conference on Automation Science and Engineering (2015), pp. 580-585.

    Fatemeh Panahi, Mansoor Davoodi, A. Frank van der Stappen,
    Orienting parts with shape variation,
    in: Algorithmic Foundations of Robotics XI (H.L. Akin, N. Amato, V. Işler, A.F. van der Stappen Eds.),
    Springer Tracts in Advanced Robotics 107, Springer-Verlag Berlin Heidelberg (2015), pp. 479-496.

    Fatemeh Panahi, A. Frank van der Stappen,
    On the location of the center of mass for parts with shape variation,
    Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2014), pp. 4482-4488.

    Fatemeh Panahi, A. Frank van der Stappen,
    Bounding the locus of the center of mass for a part with shape variation,
    Proc. of the Canadian Conference on Computational Geometry (2013), pp. 247-252.

    Fatemeh Panahi, Aviv Adler, A. Frank van der Stappen, Ken Goldberg,
    An efficient proximity probing algorithm for metrology,
    Proc. of the IEEE Conference on Automation Science and Engineering (2013), pp. 342-349.
    Finalist for Best Student Paper Award.

    Heinrich Kruger, A. Frank van der Stappen,
    Independent contact regions for local force closure grasps,
    Proc. of the IEEE International Conference on Robotics and Automation (2013), pp. 1588-1594.

    Ioannis Karamouzas, Roland Geraerts, A. Frank van der Stappen,
    Space-time group motion planning,
    in: Algorithmic Foundations of Robotics X (E. Frazzoli, T. Lozano-Perez, N. Roy, D. Rus Eds.),
    Springer Tracts in Advanced Robotics 86, Springer-Verlag Berlin Heidelberg (2013), pp. 227-243.

    Thomas Geijtenbeek, Nicolas Pronost, A. Frank van der Stappen,
    Simple data-driven control for simulated bipeds,
    Proc. of the Eurographics/ ACM SIGGRAPH Symposium on Computer Animation (2012), pp. 211-219.

    Heinrich Kruger, Elon Rimon, A. Frank van der Stappen,
    Local force closure,
    Proc. of the IEEE International Conference on Robotics and Automation (2012), pp. 4176-4182.

    Heinrich Kruger, A. Frank van der Stappen,
    Partial closure grasps: metrics and computation,
    Proc. of the IEEE International Conference on Robotics and Automation (2011), pp. 5024-5030.

    Elon Rimon, A. Frank van der Stappen,
    Immobilizing 2D serial chains in form closure grasps,
    Proc. of the IEEE International Conference on Robotics and Automation (2010), pp. 1286-1291.

    Rik Jansen, Kris Hauser, Nuttapong Chentanez, A. Frank van der Stappen, Ken Goldberg,
    Surgical retraction of non-uniform deformablelayers of tissue: 2D robot grasping and path planning,
    Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2009), pp. 4092-4097.

    Mostafa Vahedi, A. Frank van der Stappen,
    On the complexity of the set of three-finger caging grasps of convex polygons,
    Proc. of Robotics: Science and Systems (2009), pp. 57-64.

    Mostafa Vahedi, A. Frank van der Stappen,
    Caging convex polygons with three fingers,
    Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2008), pp. 1777-1783.

    Mostafa Vahedi, A. Frank van der Stappen,
    Towards output-sensitive computation of two-finger caging grasps,
    Proc. of the IEEE Conference on Automation Science and Engineering (2008), pp. 73-78.

    Onno C. Goemans, A. Frank van der Stappen,
    On the design of traps for feeding 3d parts on vibratory tracks,
    Proc. of the IEEE International Conference on Robotics and Automation (2008), pp. 385-392.
    Finalist for Best Automation Paper Award.

    Yiliang Xu, Dezhen Song, Jingang Yi, A. Frank van der Stappen,
    An approximation algorithm for the least overlapping p-frame problem with non-partial coverage for networked robotic cameras,
    Proc. of the IEEE International Conference on Robotics and Automation (2008), pp. 1011-1016.

    Mostafa Vahedi, A. Frank van der Stappen,
    Caging polygons with two and three fingers,
    in: Algorithmic Foundations of Robotics VII (S. Akella, N. Amato, W. Huang, B. Mishra Eds.),
    Springer Tracts in Advanced Robotics 47, Springer-Verlag Berlin Heidelberg (2008), pp. 71-86.

    Dennis Nieuwenhuisen, A. Frank van der Stappen, Mark H. Overmars,
    An effective framework for path planning amidst movable obstacles,
    in: Algorithmic Foundations of Robotics VII (S. Akella, N. Amato, W. Huang, B. Mishra Eds.),
    Springer Tracts in Advanced Robotics 47, Springer-Verlag Berlin Heidelberg (2008), pp. 87-102.

    Jae-Sook Cheong, A. Frank van der Stappen,
    Computing all form-closure grasps of a rectilinear polyhedron with seven frictionless point fingers,
    Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2007), pp. 3276-3282.

    Onno C. Goemans, Marshall T. Anderson, Ken Goldberg, A. Frank van der Stappen,
    Automated feeding of industrial parts with modular blades: design software, physical experiments, and an improved algorithm,
    Proc. of the IEEE Conference on Automation Science and Engineering (2007), pp. 318-325.

    Jae-Sook Cheong, A. Frank van der Stappen,
    Computing all independent form-closure grasp regions of a rectilinear polyhedron,
    Proc. of the IEEE Conference on Automation Science and Engineering (2007), pp. 288-294.

    Mostafa Vahedi, A. Frank van der Stappen,
    Geometric properties and computation of three-finger caging grasps of convex polygons,
    Proc. of the IEEE Conference on Automation Science and Engineering (2007), pp. 404-411.

    Esther Moet, Marc van Kreveld, A. Frank van der Stappen,
    On realistic terrains,
    Proc. of the 22nd Annual ACM Symposium on Computational Geometry (2006), pp. 177-186.

    Onno C. Goemans, Ken Goldberg, A. Frank van der Stappen,
    Blades: a new class of geometric primitives for feeding 3D parts on vibratory tracks,
    Proc. of the IEEE International Conference on Robotics and Automation (2006), pp. 1730-1736.
    Finalist for Best Conference Paper Award.

    Dennis Nieuwenhuisen, A. Frank van der Stappen, Mark H. Overmars,
    Pushing using compliance,
    Proc. of the IEEE International Conference on Robotics and Automation (2006), pp. 2010-2016.

    Esther Moet, Marc van Kreveld, A. Frank van der Stappen,
    On realistic terrains,
    Proc. of the 22nd European Workshop on Computational Geometry (EuroCG) (2006), pp. 169-172.

    Hee-Kap Ahn, Mark de Berg, Otfried Cheong, Herman J. Haverkort, A. Frank van der Stappen, Laura Toma,
    River networks and watershed maps of triangulated terrains revisited,
    Proc. of the 22nd European Workshop on Computational Geometry (EuroCG) (2006), pp. 173-176.

    Dennis Nieuwenhuisen, A. Frank van der Stappen, Mark H. Overmars,
    Path planning for pushing a disk using compliance,
    Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2005), pp. 714-720.

    Onno C. Goemans, Anthony Levandowski, Ken Goldberg, A. Frank van der Stappen,
    On the design of guillotine traps for vibratory bowl feeders,
    Proc. of the IEEE Conference on Automation Science and Engineering (2005), pp. 79-86.

    Mark de Berg, Xavier Goaoc, A. Frank van der Stappen,
    A polynomial-time algorithm to design push plans for sensorless parts sorting,
    Proc. of Robotics: Science and Systems (2005), pp. 89-95.
    [pdf]

    Jae-Sook Cheong, A. Frank van der Stappen,
    Output-sensitive computation of all form-closure grasps of a semi-algebraic set,
    Proc. of the IEEE International Conference on Robotics and Automation (2005), pp. 772-778.

    A. Frank van der Stappen,
    Immobilization: analysis, existence, and output-sensitive synthesis,
    in: Geometric and Algorithmic Aspects of Computer-Aided Design and Manufacturing (R. Janardan, M. Smid, D. Dutta Eds.),
    AMS-DIMACS Volumes Series 67 (2005), pp. 165-187.

    Marc van Kreveld, A. Frank van der Stappen,
    Approximate unions of lines and Minkowski sums,
    Proc. of the 12th European Symposium on Algorithms (ESA) (2004),
    LNCS 3221, Springer Verlag, Berlin (2004), pp. 448-459.

    Dezhen Song, A. Frank van der Stappen, Ken Goldberg,
    An exact algorithm optimizing coverage-resolution for automated satellite frame selection,
    Proc. of the IEEE International Conference on Robotics and Automation (2004), pp. 63-70.

    Han-Wen Nienhuys, A. Frank van der Stappen,
    A computational technique for interactive needle insertions in 3D nonlinear material,
    Proc. of the IEEE International Conference on Robotics and Automation (2004), pp. 2061-2067.
    (Technical Report version)

    Han-Wen Nienhuys, A. Frank van der Stappen,
    A Delaunay approach to interactive cutting in triangulated surfaces,
    in: Algorithmic Foundations of Robotics V (J.-D. Boissonnat, J. Burdick, K. Goldberg, S. Hutchinson Eds.),
    Springer Tracts in Advanced Robotics 7, Springer-Verlag Berlin Heidelberg (2004), pp. 113-129.
    (Technical Report version)

    Dezhen Song, A. Frank van der Stappen, Ken Goldberg,
    Exact and distributed algorithms for collaborative camera control,
    in: Algorithmic Foundations of Robotics V (J.-D. Boissonnat, J. Burdick, K. Goldberg, S. Hutchinson Eds.),
    Springer Tracts in Advanced Robotics 7, Springer-Verlag Berlin Heidelberg (2004), pp. 167-183.

    Jae-Sook Cheong, Herman J. Haverkort, A. Frank van der Stappen,
    On computing all immobilizing grasps of a simple polygon with few contacts,
    Proc. of the 14th Annual International Symposium on Algorithms and Computation (ISAAC) (2003),
    LNCS 2906, Springer Verlag, Berlin (2003), pp. 260-269.

    M. de Berg, J. Gudmundsson, M.J. Katz, C. Levcopoulos, M.H. Overmars, A.F. van der Stappen,
    TSP with neighborhoods of varying size,
    Proc. of the 10th European Symposium on Algorithms (ESA) (2002),
    LNCS 2461, Springer Verlag, Berlin (2002), pp. 187-199.

    R.-P. Berretty, M.H. Overmars, A.F. van der Stappen,
    Sensorless orientation of 3D polyhedral parts,
    Proc. of the IEEE International Conference on Robotics and Automation (2002), pp. 2016-2021.
    Finalist for Kayamori Best Paper Award.

    J.-S. Cheong, K. Goldberg, M.H. Overmars, A.F. van der Stappen,
    Fixturing hinged polygons,
    Proc. of the IEEE International Conference on Robotics and Automation (2002), pp. 876-881.

    A.F. van der Stappen, R.-P. Berretty, K. Goldberg, M.H. Overmars,
    Geometry and Part Feeding,
    in: Sensor-Based Intelligent Robots (G.D. Hager, H.I. Christensen, H. Bunke, R. Klein Eds.),
    LNCS 2238, Springer Verlag, Berlin (2002), pp. 259-281.
    (Technical Report version)

    H.-W. Nienhuys, A.F. van der Stappen,
    A surgery simulation supporting cuts and finite element deformation,
    Proc. of Medical Image Computing and Computer-Assisted Intervention (MICCAI) ,
    LNCS 2208, Springer Verlag, Berlin (2001), pp. 145-152.
    (Technical Report version)

    H.-W. Nienhuys, A.F. van der Stappen,
    A simple mesh data structure with applications in surgery simulation,
    Proc. of the International Conference on Augmented, Virtual Environments and Three-Dimensional Imaging (ICAV3D) (2001), pp. 148-151.

    R.-P. Berretty, K. Goldberg, M.H. Overmars, A.F. van der Stappen,
    Orienting parts by inside-out pulling,
    Proc. of the IEEE International Conference on Robotics and Automation (2001), pp. 1053-1058.

    A.F. van der Stappen,
    On the existence of form-closure configurations on a grid,
    Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2000), pp. 1237-1242.

    H.-W. Nienhuys, A.F. van der Stappen,
    Combining finite element deformation with cutting for surgery simulation,
    Proc. of Eurographics (2000), short-presentations stream, pp. 143-152.

    R.-P. Berretty, M.H. Overmars, A.F. van der Stappen,
    Orienting polyhedral parts by pushing,
    Proc. of the 16th European Workshop on Computational Geometry (EuroCG) (2000), pp. 136-139.

    R.-P. Berretty, K. Goldberg, M.H. Overmars, A.F. van der Stappen,
    Geometric trap design for automatic part feeders,
    Proc. of the 9th International Symposium of Robotics Research (ISRR) (1999), pp. 139-144.

    R.-P. Berretty, K. Goldberg, M.H. Overmars, A.F. van der Stappen,
    Geometric algorithms for trap design,
    Proc. of the 15th Annual ACM Symposium on Computational Geometry (1999), pp. 95-104.

    V. Boor, M.H. Overmars, A.F. van der Stappen,
    The Gaussian sampling strategy for probabilistic roadmap planners,
    Proc. of the IEEE International Conference on Robotics and Automation (1999), pp. 1018-1023.
    (Technical Report version)

    A.F. van der Stappen, C. Wentink, M.H. Overmars,
    Computing form-closure configurations,
    Proc. of the IEEE International Conference on Robotics and Automation (1999), pp. 1837-1842.

    R.-P. Berretty, L. Cheung, K. Goldberg, M.H. Overmars, G. Smith, A.F. van der Stappen,
    Trap design for vibratory bowl feeders,
    Proc. of the IEEE International Conference on Robotics and Automation (1999), pp. 2558-2563.

    A.F. van der Stappen,
    Realistic environment models and their impact on the exact solution of the motion planning problem,
    in: Sensor Based Intelligent Robots (H.I. Christensen, H. Bunke, H. Noltemeier Eds.),
    LNAI (Subseries of LNCS) 1724, Springer Verlag, Berlin (1999), pp. 180-199.

    M. de Berg, H. David, M.J. Katz, M. Overmars, A.F. van der Stappen, J. Vleugels,
    Guarding objects against invasive hypercubes,
    Proc. of the 2nd Workshop on Algorithm Engineering (1998), pp. 110-120. (Technical Report version)

    M. de Berg, M. Katz, M. Overmars, A.F. van der Stappen, J. Vleugels,
    Models and motion planning,
    Proc. of the 6th Scandinavian Workshop on Algorithm Theory (SWAT) (1998),
    LNCS 1432, Springer Verlag, Berlin (1998), pp. 83-94.

    B. Aronov, M. de Berg, A.F. van der Stappen, P. Švestka, J. Vleugels},
    Motion planning for multiple robots,
    Proc. of the 14th Annual ACM Symposium on Computational Geometry (1998), pp. 374-382.

    R.-P. Berretty, K. Goldberg, M.H. Overmars, A.F. van der Stappen,
    Algorithms for fence design,
    in: Robotics: The Algorithmic Perspective (P.K. Agarwal, L.E. Kavraki, M.T. Mason Eds.),
    A.K. Peters, Natick, MA (1998), pp. 279-296.
    (Technical Report version)

    R.-P. Berretty, M. Overmars, A.F. van der Stappen,
    Dynamic motion planning in low density environments,
    Proc. of the Workshop on Algorithms and Data Structures (WADS) (1997),
    LNCS 1272, Springer Verlag, Berlin (1997), pp. 3-16.

    M. de Berg, M. Katz, A.F. van der Stappen, J. Vleugels,
    Realistic input models for geometric algorithms,
    Proc. of the 13th Annual ACM Symposium on Computational Geometry (1997), pp. 294-303.

    R.-P. Berretty, K. Goldberg, M.H. Overmars, A.F. van der Stappen,
    On fence design and the complexity of push plans for orienting parts,
    Proc. of the 13th Annual ACM Symposium on Computational Geometry (1997), pp. 21-29.

    C. Wentink, A.F. van der Stappen, M.H. Overmars,
    Fixture design with edge-fixels,
    in: Intelligent robots: Sensing, modeling and planning (R. Bolles, H. Bunke, H. Noltemeier Eds.),
    Series on Machine Perception & Artificial Intelligence, Volume 27, World Scientific Publ. Co., Singapore (1997), pp. 269-286.

    C. Wentink, A.F. van der Stappen, M.H. Overmars,
    Algorithms for fixture design,
    in: Algorithms for Robotic Motion and Manipulation (J.-P. Laumond and M. Overmars Eds.),
    A.K. Peters, Wellesley, MA (1997), pp. 321-346.
    (Technical Report version)

    A.F. van der Stappen,
    Efficient exact motion planning in realistic environments,
    in: Modelling and Planning for Sensor Based Intelligent Robot Systems (H. Bunke, H. Noltemeier, T. Kanade Eds.),
    Series on Machine Perception & Artificial Intelligence, Volume 21, World Scientific Publ. Co., Singapore (1995), pp. 51-66.

    M.H. Overmars, A.F. van der Stappen,
    Range searching and point location among fat objects,
    Proc. of the 2nd Annual European Symposium on Algorithms (ESA) (1994),
    LNCS 855, Springer Verlag, Berlin, pp. 240-253.

    A.F. van der Stappen, M.H. Overmars,
    Motion planning amidst fat obstacles,
    Proc. of the 10th Annual ACM Symposium on Computational Geometry (1994), pp. 31-40.

    A.F. van der Stappen, D. Halperin, M.H. Overmars,
    Efficient algorithms for exact motion planning amidst fat obstacles,
    Proc. of the IEEE International Conference on Robotics and Automation (1993), Vol. I, pp. 297-304.

    A.F. van der Stappen, M.H. Overmars,
    On the complexity of the free space for motion planning problems,
    Proceedings of the 13th IMACS World Congress on Computation and Applied Mathematics (1991), pp. 140-141.


    National meetings

    O.C. Goemans, A. Levandowski, K. Goldberg, A.F. van der Stappen,
    On the design of guillotine traps for vibratory bowl feeders,
    Proc. of the eleventh annual conference of the Advanced School for Imaging and Computing (2005), pp. 320-327.

    E. van de Sluis, A.F. van der Stappen,
    Performance analysis of VLSI programs,
    Proc. of Computing Science in the Netherlands (CSN) (1991), pp. 499-531.


    Theses

    A.F. van der Stappen,
    Motion planning amidst fat obstacles,
    PhD Thesis, Dept. of Computer Science, Utrecht University (ISBN 90-393-0654-0) (1994).
    (Download the PhD Thesis in pdf format)

    H.A.A. van Maren, A.F. van der Stappen,
    Planning and scheduling in crude oil refineries,
    MTD Thesis, IVO, Eindhoven University of Technology (ISBN 90-5282-083-X) (1990).

    A.F. van der Stappen,
    Distributed data structures for sparse linear algebra,
    MSc Thesis, Eindhoven University of Technology (1988).