Hsin-Yi Yeh

Papers

Total Citations

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About

Hsin-Yi Yeh is a robotics researcher whose work lies at the intersection of motion planning, sampling-based algorithms, and geometric computation. Her most-cited paper, "UMAPRM: Uniformly sampling the medial axis" (2014, 19 citations), introduces a novel approach to generating safer, higher-clearance paths for robots by uniformly sampling the medial axis—the set of points equidistant to obstacles. This contribution addresses a critical challenge in robotics: balancing path safety with computational efficiency. By maintaining clearance from obstacles, Yeh’s method enhances the reliability of autonomous navigation in cluttered environments. Her research has influenced subsequent work in probabilistic roadmap methods and sampling strategies, demonstrating sustained impact in the field. Yeh’s achievements reflect a deep understanding of geometric reasoning and algorithm design, making her work a valuable reference for students and researchers exploring motion planning. Her focus on practical, safety-critical applications underscores the relevance of her contributions to real-world robotic systems.