| 2021 | ICRA | A Fast and Approximate Medial Axis Sampling Technique. | Jory Denny, David Qin, Hanglin Zhou |
| 2020 | SAC | Topology-based group routing in partially known environments. | Jory Denny, Benjamin T. Fine |
| 2018 | IROS | A Topology-Based Path Similarity Metric and its Application to Sampling-Based Motion Planning. | Jory Denny, Kaiwen Chen, Hanglin Zhou |
| 2016 | IROS | On the theory of user-guided planning. | Jory Denny, Jonathan Colbert, Hongsen Qin, Nancy M. Amato |
| 2016 | WAFR | Dynamic Region-biased Rapidly-exploring Random Trees. | Jory Denny, Read Sandstrm, Andrew Bregger, Nancy M. Amato |
| 2015 | ISRR | A General Region-Based Framework for Collaborative Planning. | Jory Denny, Read Sandstrm, Nancy M. Amato |
| 2014 | ICRA | Robust online belief space planning in changing environments: Application to physical mobile robots. | Ali-akbar Agha-mohammadi, Saurav Agarwal, Aditya Mahadevan, Suman Chakravorty, Daniel Tomkins, Jory Denny, Nancy M. Amato |
| 2014 | ICRA | MARRT: Medial Axis biased rapidly-exploring random trees. | Jory Denny, Evan Greco, Shawna L. Thomas, Nancy M. Amato |
| 2014 | ICRA | Spark PRM: Using RRTs within PRMs to efficiently explore narrow passages. | Kensen Shi, Jory Denny, Nancy M. Amato |
| 2014 | ICRA | UMAPRM: Uniformly sampling the medial axis. | Hsin-Yi Cindy Yeh, Jory Denny, Aaron Lindsey, Shawna L. Thomas, Nancy M. Amato |
| 2014 | WAFR | A Region-Based Strategy for Collaborative Roadmap Construction. | Jory Denny, Read Sandstrm, Nicole Julian, Nancy M. Amato |
| 2013 | ICRA | Lazy Toggle PRM: A single-query approach to motion planning. | Jory Denny, Kensen Shi, Nancy M. Amato |
| 2013 | IROS | Multi-robot caravanning. | Jory Denny, Andrew Giese, Aditya Mahadevan, Arnaud Marfaing, Rachel Glockenmeier, Colton Revia, Samuel Rodrguez, Nancy M. Amato |
| 2013 | IROS | Adapting RRT growth for heterogeneous environments. | Jory Denny, Marco Morales, Samuel Rodrguez, Nancy M. Amato |
| 2013 | IROS | Blind RRT: A probabilistically complete distributed RRT. | Cesar Rodriguez, Jory Denny, Sam Ade Jacobs, Shawna L. Thomas, Nancy M. Amato |
| 2012 | ICRA | The Toggle Local Planner for sampling-based motion planning. | Jory Denny, Nancy M. Amato |
| 2012 | ICRA | A scalable method for parallelizing sampling-based motion planning algorithms. | Sam Ade Jacobs, Kasra Manavi, Juan Burgos, Jory Denny, Shawna L. Thomas, Nancy M. Amato |
| 2012 | WAFR | Toggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimension. | Jory Denny, Nancy M. Amato |
| 2011 | ICRA | Toward realistic pursuit-evasion using a roadmap-based approach. | Samuel Rodrguez, Jory Denny, Juan Burgos, Aditya Mahadevan, Kasra Manavi, Luke Murray, Anton Kodochygov, Takis Zourntos, Nancy M. Amato |
| 2011 | IROS | Toggle PRM: Simultaneous mapping of C-free and C-obstacle - a study in 2D -. | Jory Denny, Nancy M. Amato |
| 2010 | MIG | Toward Simulating Realistic Pursuit-Evasion Using a Roadmap-Based Approach. | Samuel Rodrguez, Jory Denny, Takis Zourntos, Nancy M. Amato |