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NREC publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• FCS UGV Safe Operations
  S. Fish, J. Ruedin, M. Perschbacher, and J. Bares
  SPIE Defense and Security Conference, Unmanned Systems Technology X, March 19, 2008, March, 2008. [Abstract]
  Download: pdf [2465 KB] copyrighted

• Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices
  M. Pivtoraiko, T. Howard, I. Nesnas, and A. Kelly
  Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08), February, 2008. [Abstract]
  Download: pdf [941 KB] copyrighted

• Toward Optimal Sampling in the Space of Paths
  C. Green and A. Kelly
  13th International Symposium of Robotics Research, November, 2007. [Abstract]
  Download: pdf [3451 KB], ps.gz [642 KB] copyrighted

• Learning the Forward Predictive Model for an Off-Road Skid-Steer Vehicle
  M.W. Bode
  tech. report CMU-RI-TR-07-32, Robotics Institute, Carnegie Mellon University, September, 2007. [Abstract]
  Download: pdf [301 KB] copyrighted

• State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments
  T. Howard, C. Green, and A. Kelly
  Proceedings of the 6th International Conferences on Field and Service Robotics, July, 2007. [Abstract]
  Download: pdf [2007 KB] copyrighted

• Terrain Aware Inversion of Predictive Models for Planetary Rovers
  A. Kelly and T. Howard
  Proceedings of the Nasa Science and Technology Conference, June, 2007. [Abstract]
  Download: pdf [587 KB] copyrighted

• Optimal, Smooth, Nonholonomic Mobile Robot Motion Planning in State Lattices
  M. Pivtoraiko, R.A. Knepper, and A. Kelly
  tech. report CMU-RI-TR-07-15, Robotics Institute, Carnegie Mellon University, May, 2007. [Abstract]
  Download: pdf [2505 KB] copyrighted

• Terrain Aware Inversion of Predictive Models for High Performance UGVs
  A. Kelly, T. Howard, and C. Green
  Proceedings of the SPIE Defense and Security Symposium, April, 2007, pp. 6561-6566. [Abstract]
  Download: pdf [1454 KB] copyrighted

• Vegetation Detection for Driving in Complex Environments
  D. Bradley, R. Unnikrishnan, and J. Bagnell
  IEEE International Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [1694 KB] copyrighted

• Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
  T. Howard and A. Kelly
  International Journal of Robotics Research, Vol. 26, No. 2, February, 2007, pp. 141-166. [Abstract]
  Download: pdf [9400 KB] copyrighted

• Boosting Structured Prediction for Imitation Learning
  N. Ratliff, D. Bradley, J. Bagnell, and J. Chestnutt
  Advances in Neural Information Processing Systems 19, MIT Press, Cambridge, MA, 2007. [Abstract]
  Download: pdf [847 KB] copyrighted

• Improving Robot Navigation Through Self-Supervised Online Learning
  B. Sofman, E.L. Ratliff, J. Bagnell, J. Cole, N. Vandapel, and A. Stentz
  Journal of Field Robotics, Vol. 23, No. 12, December, 2006. [Abstract]
  Download: pdf [2114 KB] copyrighted

• Optimal Sampling In the Space of Paths: Preliminary Results
  C. Green and A. Kelly
  tech. report CMU-RI-TR-06-51, Robotics Institute, Carnegie Mellon University, November, 2006. [Abstract]
  Download: pdf [1713 KB], ps.gz [625 KB] copyrighted

• Experimental Analysis of Overhead Data Processing To Support Long Range Navigation
  D. Silver, B. Sofman, N. Vandapel, J. Bagnell, and A. Stentz
  IEEE International Conference on Intelligent Robots and Systems (IROS), October, 2006, pp. 2443 - 2450. [Abstract]
  Download: pdf [1196 KB] copyrighted

• High Performance State Lattice Planning Using Heuristic Look-Up Tables
  R.A. Knepper and A. Kelly
  2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 3375 - 3380. [Abstract]
  Download: pdf [429 KB] copyrighted

• Trajectory and Spline Generation for All-Wheel Steering Mobile Robots
  T. Howard and A. Kelly
  Proceedings of the the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 4827 - 4832. [Abstract]
  Download: pdf [1862 KB] copyrighted

• Improving Robot Navigation Through Self-Supervised Online Learning
  B. Sofman, E.L. Ratliff, J. Bagnell, N. Vandapel, and A. Stentz
  Proceedings of Robotics: Science and Systems, August, 2006. [Abstract]
  Download: pdf [1683 KB] copyrighted

• Constrained Optimization Path Following of Wheeled Robots in Natural Terrain
  T. Howard, R.A. Knepper, and A. Kelly
  Proceedings of the 10th International Symposium on Experimental Robotics 2006 (ISER '06), July, 2006. [Abstract]
  Download: pdf [751 KB] copyrighted

• Toward Human-Robot Interface Standards I: Use of Standardization and Intelligent Subsystems for Advancing Human-Robotic Competency in Space Exploration
  J. Ferketic, L. Goldblatt, E. Hodgson, S. Murray, R. Wichowski, A. Bradley, T.W. Fong, J. Evans, W. Chun, R. Stiles, M. Goodrich, and A. Steinfeld
  SAE 36th International Conference on Environmental Systems, No. 2006-01-2019, July, 2006. [Abstract]
  Download: pdf [592 KB] copyrighted

• Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
  A. Kelly, A. Stentz, O. Amidi, M.W. Bode, D. Bradley, A. Diaz-Calderon, M. Happold, H. Herman, R. Mandelbaum, T. Pilarski, P. Rander, S. Thayer, N.M. Vallidis, and R. Warner
  The International Journal of Robotics Research, Vol. 25, No. 5-6, May, 2006, pp. 449-483. [Abstract]
  Download: pdf [847 KB] copyrighted

• Terrain Classification from Aerial Data to Support Ground Vehicle Navigation
  B. Sofman, J. Bagnell, A. Stentz, and N. Vandapel
  tech. report CMU-RI-TR-05-39, Robotics Institute, Carnegie Mellon University, January, 2006. [Abstract]
  Download: pdf [697 KB] copyrighted

• Learning a Terrain Model for Autonomous Navigation in Rough Terrain
  C. Wellington
  doctoral dissertation, tech. report CMU-RI-TR-05-59, Robotics Institute, Carnegie Mellon University, December, 2005. [Abstract]
  Download: pdf [16784 KB] copyrighted

• Experimental Characterization of Commercial Flash Ladar Devices
  D. Anderson, H. Herman, and A. Kelly
  International Conference of Sensing and Technology, November, 2005. [Abstract]
  Download: pdf [414 KB] copyrighted

• OnLine Stability Margin and Attitude Estimation for Dynamic Articulating Mobile Robots
  A. Diaz-Calderon and A. Kelly
  International Journal of Robotics Research, October, 2005. [Abstract]
  Download: pdf [13936 KB] copyrighted

• Driver-Vehicle-Interface (DVI) Development of a Drowsy Driver Detection and Warning System for Commercial Vehicles
  E.M. Ayoob, R. Grace, and A. Steinfeld
  tech. report CMU-RI-TR-05-46, Robotics Institute, Carnegie Mellon University, September, 2005. [Abstract]
  Download: pdf [7427 KB] copyrighted

• Terrain-Adaptive Generation of Optimal Continuous Trajectories for Mobile Robots
  T. Howard and A. Kelly
  Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '05), September, 2005. [Abstract]
  Download: pdf [379 KB] copyrighted

• Trajectory Generation on Rough Terrain Considering Actuator Dynamics
  T. Howard and A. Kelly
  Proceedings of the 5th International Conference on Field and Service Robotics (FSR '05), July, 2005. [Abstract]
  Download: pdf [260 KB] copyrighted

• Interacting Markov Random Fields for Simultaneous Terrain Modeling and Obstacle Detection
  C. Wellington, A. Courville, and A. Stentz
  Proceedings of Robotics: Science and Systems, June, 2005. [Abstract]
  Download: pdf [3208 KB] copyrighted

• Robust Supervised Learning
  J. Bagnell
  Proceedings of AAAI, American Association for Artifical Intelligence, June, 2005. [Abstract]
  Download: pdf [117 KB] copyrighted

• The hierarchical atlas
  B. Lisien, D. Morales, D. Silver, G.A. Kantor, I. Rekleitis, and H. Choset
  IEEE Transactions on Robotics, Vol. 21, No. 3, June, 2005, pp. 473 - 481. [Abstract]
  Download: pdf [835 KB] copyrighted

• A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots
  M. Pivtoraiko
  tech. report CMU-RI-TR-04-68, Robotics Institute, Carnegie Mellon University, December, 2004. [Abstract]
  Download: pdf [387 KB] copyrighted

• Online Adaptive Rough-Terrain Navigation in Vegetation
  C. Wellington and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, April, 2004, pp. 96 - 101. [Abstract]
  Download: pdf [1916 KB] copyrighted

• Vegetation Detection for Mobile Robot Navigation
  D. Bradley, S. Thayer, A. Stentz, and P. Rander
  tech. report CMU-RI-TR-04-12, Robotics Institute, Carnegie Mellon University, February, 2004. [Abstract]
  Download: pdf [1561 KB] copyrighted

• Efficient Construction of Globally Consistent Ladar Maps using Pose Network Topology and Nonlinear Programming
  A. Kelly and R. Unnikrishnan
  Proceedings of the 11th International Symposium of Robotics Research (ISRR '03), November, 2003. [Abstract]
  Download: pdf [615 KB] copyrighted

• Learning Predictions of the Load-Bearing Surface for Autonomous Rough-Terrain Navigation in Vegetation
  C. Wellington and A. Stentz
  International Conference on Field and Service Robotics, July, 2003, pp. 49-54. [Abstract]
  Download: pdf [3246 KB] copyrighted

• Real-Time, Multi-Perspective Perception for Unmanned Ground Vehicles
  A. Stentz, A. Kelly, P. Rander, H. Herman, O. Amidi, R. Mandelbaum, G. Salgian, and J. Pedersen
  Proc. of AUVSI Unmanned Systems Symposium 2003, July, 2003. [Abstract]
  Download: pdf [302 KB] copyrighted

• A user-centered drowsy driver detection and warning system
  E.M. Ayoob, R. Grace, and A. Steinfeld
  Proceedings of Designing User Experiences (DUX), 2003. [Abstract]
  Download: pdf [141 KB] copyrighted

• Identification of an appropriate drowsy driver detection interface for commercial vehicle operations
  E.M. Ayoob, A. Steinfeld, and R. Grace
  Proceedings of the Human Factors and Ergonomics Society 47th Annual Meeting, 2003, pp. 1840-1844. [Abstract]
  Download: pdf [1599 KB] copyrighted

• A Constrained Optimization Approach to Globally Consistent Mapping
  R. Unnikrishnan and A. Kelly
  2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, October, 2002, pp. 564-569. [Abstract]
  Download: pdf [731 KB] copyrighted

• Junior: a robot for outdoor container nurseries
  H. Schempf and unknown
  Proceedings of the 2002 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, October, 2002, pp. 750 - 755. [Abstract]
  Download: pdf [660 KB] copyrighted

• Globally Consistent Mosaicking for Autonomous Visual Navigation
  R. Unnikrishnan
  master's thesis, tech. report CMU-RI-TR-02-22, Robotics Institute, Carnegie Mellon University, September, 2002. [Abstract]
  Download: pdf [1562 KB] copyrighted

• A System for Semi-Autonomous Tractor Operations
  A. Stentz, C. Dima, C. Wellington, H. Herman, and D. Stager
  Autonomous Robots, Vol. 13, No. 1, July, 2002, pp. 87-103. [Abstract]

• Evaluating Path Tracker Performance for Outdoor Mobile Robots
  S.A. Roth and P. Batavia
  Automation Technology for Off-Road Equipment, July, 2002. [Abstract]
  Download: pdf [107 KB] copyrighted

• Integrated Air/Ground Vehicle System for Semi-Autonomous Off-Road Navigation
  A. Stentz, A. Kelly, H. Herman, P. Rander, O. Amidi, and R. Mandelbaum
  Proc. of AUVSI Unmanned Systems Symposium 2002, July, 2002. [Abstract]
  Download: pdf [531 KB] copyrighted

• Stereo perception on an off-road vehicle
  A. Rieder, B. Southall, G. Salgian, R. Mandelbaum, H. Herman, P. Rander, and A. Stentz
  IEEE 2002 Intelligent Vehicle Symposium, Vol. 1, June, 2002, pp. 221 - 226. [Abstract]
  Download: pdf [680 KB] copyrighted

• Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles
  R. Unnikrishnan and A. Kelly
  IEEE International Conference on Robotics and Automation, 2002 (ICRA '02), Vol. 4, May, 2002, pp. 4299-4306. [Abstract]
  Download: pdf [4099 KB] copyrighted

• Scene Modeling from Motion-Free Radar Sensing
  A. Foessel
  doctoral dissertation, tech. report CMU-RI-TR-02-03, Robotics Institute, Carnegie Mellon University, January, 2002. [Abstract]
  Download: pdf [4422 KB] copyrighted

• Drowsy Driver Monitor and Warning System
  R. Grace
  International Driving Symposium on Human Factors in Driver Assessment, Training and Vehicle Design, August, 2001. [Abstract]
  Download: pdf [102 KB] copyrighted

• MMW-Scanning Radar for Descent Guidance and Landing Safeguard
  A. Foessel and W.L. Whittaker
  Proceedings 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 2001. [Abstract]
  Download: pdf [217 KB] copyrighted

• Three-Dimensional Map Building with MMW Radar
  A. Foessel, J. Bares, and W.L. Whittaker
  Proceedings of the 3rd International Conference on Field and Service Robotics, Yleisjäljennös - Painnopörssi, Helsinki, Finland, June, 2001. [Abstract]
  Download: pdf [219 KB] copyrighted

• Automated container-handling system for container production nurseries
  H. Schempf, unknown, R. Fuchs, and C. Gasior
  IEEE Int. Conf. on Robotics and Automation (ICRA '01), Vol. 1, April, 2001, pp. 755 - 760. [Abstract]
  Download: pdf [841 KB] copyrighted

• A drowsy driver detection system for heavy vehicles
  R. Grace, V.E. Byrne, D.M. Bierman, J. Legrand, D. Gricourt, B.K. Davis, J.J. Staszewski, and B. Carnahan
  Proceedings of the 17th Digital Avionics Systems Conference, Vol. 2, 2001, pp. I36/1 - I36/8. [Abstract]
  Download: pdf [703 KB] copyrighted

• Radar Sensor Model for Three-Dimensional Map Building
  A. Foessel
  Proc. SPIE, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, SPIE, Vol. 4195, November, 2000. [Abstract]
  Download: pdf [272 KB] copyrighted

• Trident Sensing System: A Configuration of Sensors to Aid Alignment of an Intelligent Grasping Device Used for Field-container Handling
  M.B. Dias and H. Schempf
  tech. report CMU-RI-TR-00-26, Robotics Institute, Carnegie Mellon University, November, 2000. [Abstract]
  Download: pdf [1286 KB] copyrighted

• Material Classification by Drilling
  D. LaBelle, J. Bares, and I. Nourbakhsh
  Proceedings of the 17th International Symposium on Automation and Robotics in Construction, September, 2000.
  Download: pdf [137 KB] copyrighted

• Methods for Cropline Following
  M. Happold
  tech. report CMU-RI-TR-00-14, Robotics Institute, Carnegie Mellon University, May, 2000. [Abstract]
  Download: pdf [873 KB] copyrighted

• Automated Synthesis and Optimization of Robot Configurations: An Evolutionary Approach
  P. Leger
  doctoral dissertation, tech. report CMU-RI-TR-99-43, Robotics Institute, Carnegie Mellon University, December, 1999. [Abstract]
  Download: pdf [2710 KB], ps.gz [1497 KB] copyrighted

• Incremental Object Recognition Using Range Sensors
  K. Lay
  doctoral dissertation, tech. report CMU-Rl-TR-99-38, Robotics Institute, Carnegie Mellon University, November, 1999. [Abstract]
  Download: pdf [6234 KB] copyrighted

• Optimal Motion Generation for Hydraulic Robots
  M. Krishna
  doctoral dissertation, tech. report CMU-RI-TR-99-30, Robotics Institute, Carnegie Mellon University, September, 1999.
  Download: pdf [314 KB] copyrighted

• Constructing fast hydraulic robot models for optimal motion planning
  M. Krishna and J. Bares
  1999 Field and Service Robotics Conference (FSR '99), August, 1999. [Abstract]
  Download: pdf [104 KB] copyrighted

• Position Measurement for Automated Mining Machinery
  A. Stentz, M. Ollis, S. Scheding, H. Herman, C. Fromme, J. Pedersen, T. Hegadorn, R. McCall, J. Bares, and R. Moore
  Proceedings of the 1999 International Conference on Field and Service Robotics, August, 1999, pp. 299 - 304. [Abstract]
  Download: pdf [404 KB], ps.gz [1031 KB] copyrighted

• Short-Range Millimeter-Wave Radar Perception in a Polar Environment
  A. Foessel, S. Chheda, and D. Apostolopoulos
  Proceedings of the Field and Service Robotics Conference, August, 1999. [Abstract]
  Download: pdf [399 KB], ps.gz [2014 KB] copyrighted

• The Demeter System for Automated Harvesting
  T. Pilarski, M. Happold, H. Pangels, M. Ollis, K. Fitzpatrick, and A. Stentz
  Proceedings of the 8th International Topical Meeting on Robotics and Remote Systems, April, 1999. [Abstract]
  Download: pdf [1293 KB], ps.gz [2767 KB] copyrighted

• Virtual Reality Mapping System for Chernobyl Accident Site Assessment
  T.T. Blackmon, S. Thayer, J. Teza, V. Broz, J. Osborn, M. Hebert, and et al
  Proceedings of the SPIE, Vol. 3644, February, 1999, pp. 338-345. [Abstract]

• Radar sensor for an autonomous Antarctic explorer
  A. Foessel, D. Apostolopoulos, and W.L. Whittaker
  Proc. SPIE , Mobile Robots XIII and Intelligent Transportation Systems, Vol. 3525, January, 1999, pp. 117-124. [Abstract]
  Download: pdf [523 KB], ps.gz [679 KB] copyrighted

• A High Speed 3D Radar Scanner for Automation
  S. Boehmke, J. Bares, E. Mutschler, and K. Lay
  Proceedings of ICRA '98, Vol. 4, May, 1998, pp. 2777-2782. [Abstract]
  Download: pdf [661 KB] copyrighted

• Robust Communications for High Bandwidth Real-Time Systems
  J. Pedersen
  master's thesis, tech. report CMU-RI-TR-98-13, Robotics Institute, Carnegie Mellon University, May, 1998. [Abstract]
  Download: pdf [218 KB] copyrighted

• Vision-Based Perception for an Autonomous Harvester
  M. Ollis and A. Stentz
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robotic Systems, Vol. 3, September, 1997, pp. 1838 - 1844. [Abstract]
  Download: pdf [1264 KB], ps.gz [2243 KB] copyrighted

• Perception Algorithms for a Harvesting Robot
  M. Ollis
  doctoral dissertation, tech. report CMU-RI-TR-97-43, Robotics Institute, Carnegie Mellon University, August, 1997. [Abstract]
  Download: pdf [6669 KB], ps.gz [29187 KB] copyrighted

• Electro-Mechanical Transducer for Rail Car Onboard Power
  J.G. Tabacchi, M.L. Nagurka, W. Kaufman, and S. Simizu
  Proceedings of the ASME Dynamic Systems and Control Division, 1996 International Mechanical Engineering Congress & Exposition, Vol. 58, November, 1996, pp. 133 - 140.

• First Results in Vision-Based Crop Line Tracking
  M. Ollis and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, April, 1996, pp. 951 - 956. [Abstract]
  Download: pdf [337 KB], ps.gz [1959 KB] copyrighted

• TILEBOT: Mobile Robot for Automatic Installation of Floor Tiles
  H. Schempf, D. Apostolopoulos, and J. West
  IEEE Int. Conf. on Robotics and Automation (ICRA '96), April, 1996. [Abstract]
  Download: pdf [423 KB], ps.gz [832 KB] copyrighted

• Carbon Dioxide/Oxygen Monitor for Cost Effective Field Use
  J.G. Tabacchi, J. Hibner, J. Jarrett, M. Portnoff, P. Prusko, and T. Toth
  Sixth West Coast Conference on Contaminated Soils and Groundwater, March, 1996.

• Designing Stereo Heads Using Task Domain Constraints
  S. Thayer and C.S. Gourley
  Proceedings of ICPR, IEEE, 1996, pp. 820-824. [Abstract]

• Developing a Soil Gas Survey Instrument for Cost Effective Field Use
  J.G. Tabacchi, J. Hibner, J. Jarrett, M. Portnoff, P. Prusko, and T. Toth
  Fourth International Symposium on Field Screening Methods for Hazardous Wastes and Toxic Chemicals, February, 1995.

• Vision Enhancement Research and Technology Guide
  J.G. Tabacchi, R. Grace, L.J. Denes, A.M. Guzman, and D.A. Purta
  July, 1994.

• Evaluation of a Nitric-Oxide-Compensated Carbon Monoxide Fire Sensor
  J.G. Tabacchi, C.D. Litton, R.S. Conti, and R. Grace
  Bureau of Mines Report IC-9339, October, 1993.

• A Practical Stereo Vision System
  W.P. Ross
  IEEE Conference on Computer Vision and Pattern Recognition, June, 1993, pp. 148 - 153. [Abstract]
  Download: pdf [681 KB] copyrighted

• Locomotive Magnetic Sweepers for Auto Transport Protection
  J.G. Tabacchi, A.M. Guzman, H. Jenkins, and R.R. Newman
  Rail Transportation, Vol. 6, 1993, pp. 229 - 235.

• Hot Bearing Detection with the "SMART-BOLT"
  J.G. Tabacchi, R.R. Newman, R.C. Leedham, D.A. Purta, G.G. Madered, and R. Galli
  Proceedings of the 1990 ASME/IEEE Joint Railroad Conference, April, 1990, pp. 105 - 110. [Abstract]
  Download: pdf [669 KB] copyrighted