PHONE THIHA KYAW

Selected research

Publications

A list of my peer-reviewed and preprint research, grouped by year. Most of my work focuses on motion planning and intelligent decision-making for autonomous robots. I rarely update this page; for the latest information, see my Google Scholar profile.

Preprint

Contact Modes Are Strata: What Geometric Structure Buys in Discrete–Continuous Planning

Phone Thiha Kyaw, Jonathan Kelly

arXiv, Robotics (cs.RO), 2026

Conference

Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays

Jonathan Kelly, Phone Thiha Kyaw, Mattew Giamou

IEEE International Conference on Multisensor Fusion and Integration (MFI), Pilsen, Czechia, 2026

Preprint

Exploring the Intrinsic Geometry of Diffusion Models with Constrained Inverse Kinematics

Miguel Angel Rogel Garcia, Phone Thiha Kyaw, Jonathan Kelly

RSS 2026 Workshop on Diffusion for Robot Learning, Sydney, Australia, 2026

Preprint

Direct Informed Sampling on Riemannian Manifolds via Loewner Order Lower Bounds

Phone Thiha Kyaw, Jonathan Kelly

arXiv, Robotics (cs.RO), 2026

Conference

Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds

Phone Thiha Kyaw, Jonathan Kelly

17th World Symposium on the Algorithmic Foundations of Robotics (WAFR), Oulu, Finland, 2026

Preprint

Greedy Heuristics for Sampling-Based Motion Planning in High-Dimensional State Spaces

Phone Thiha Kyaw, Anh Vu Le, Mohan Rajesh Elara, Jonathan Kelly

arXiv, Robotics (cs.RO), 2025

Journal

sTetro-D: A deep learning based autonomous descending-stair cleaning robot

Veerajagadheswar Prabakaran, Anh Vu Le, Phone Thiha Kyaw, Prathap Kandasamy, Aung Paing, Rajesh Elara Mohan

Engineering Applications of Artificial Intelligence, 2023

Conference

An Autonomous Descending-Stair Cleaning Robot with RGB-D based Detection, Approaching, and Area coverage Process

Prabakaran Veerajagadheswar, Anh Vu Le, Phone Thiha Kyaw, Mohan Rajesh Elara, Aung Paing

International Conference on Intelligent Robots and Systems (IROS), 2022

Journal

Energy Efficient Path Planning of Reconfigurable Robots in Complex Environments

Phone Thiha Kyaw, Anh Vu Le, Prabakaran Veerajagadheswar, Mohan Rajesh Elara, Theint Theint Thu, Nguyen Huu Khanh Nhan, Phan Van Duc, Minh Bui Vu

IEEE Transactions on Robotics (T-RO), 2022

Journal

Coverage Path Planning Using Reinforcement Learning-Based TSP for hTetran---A Polyabolo-Inspired Self-Reconfigurable Tiling Robot

Anh Vu Le, Veerajagadheswar Prabakaran, Phone Thiha Kyaw, Rajesh Elara Mohan, Nguyen Huu Khanh Nhan

Sensors, 2021

Journal

Towards Optimal Hydro-Blasting in Reconfigurable Climbing System for Corroded Ship Hull Cleaning and Maintenance

Anh Vu Le, Prabakaran Veerajagadheswar, Phone Thiha Kyaw, MA Viraj J Muthugala, Mohan Rajesh Elara, Madhu Kuma, Nguyen Huu Khanh Nhan

Expert Systems with Applications, 2021

Journal

Autonomous Floor and Staircase Cleaning Framework by Reconfigurable sTetro Robot with Perception Sensors

Anh Vu Le, Phone Thiha Kyaw, Rajesh Elara Mohan, Sai Htet Moe Swe, Ashiwin Rajendran, Kamalesh Boopathi, Nguyen Huu Khanh Nhan

Journal of Intelligent and Robotic Systems (JINT), 2021

Journal

Coverage path planning for decomposition reconfigurable grid-maps using deep reinforcement learning based travelling salesman problem

Phone Thiha Kyaw, Aung Paing, Theint Theint Thu, Rajesh Elara Mohan, Anh Vu Le, Prabakaran Veerajagadheswar

IEEE Access, 2020

Journal

Reinforcement learning-based optimal complete water-blasting for autonomous ship hull corrosion cleaning system

Anh Vu Le, Phone Thiha Kyaw, Prabakaran Veerajagadheswar, MA Viraj J Muthugala, Mohan Rajesh Elara, Madhu Kumar, Nguyen Huu Khanh Nhan

Ocean Engineering, 2020

Journal

Reinforcement Learning-Based Energy-Aware Area Coverage for Reconfigurable hRombo Tiling Robot

Anh Vu Le, Rizuwana Parween, Phone Thiha Kyaw, Rajesh Elara Mohan, Tran Hoang Quang Minh, Charan Satya Chandra Sairam Borusu

IEEE Access, 2020

Journal

Hornbill: A Self-Evaluating Hydro-Blasting Reconfigurable Robot for Ship Hull Maintenance

Veerajagadheswar Prabakaran, Anh Vu Le, Phone Thiha Kyaw, Rajesh Elara Mohan, Prathap Kandasamy, Tan Nhat Nguyen, Madhukumar Kannan

IEEE Access, 2020