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Publications, Advanced Mechatronics Lab

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

• Interactive Multimodal Robot Programming
  S. Iba, C. Paredis, and P. Khosla
  International Journal of Robotics Research, Vol. 24, No. 1, January, 2005, pp. 83-104. [Abstract]

• Interactive Multi-Modal Robot Programming
  S. Iba, C. Paredis, and P. Khosla
  9th International Symposium on Experimental Robotics, June, 2004. [Abstract]
  Download: pdf [726 KB] copyrighted

• Development and deployment of a line of sight virtual sensor for heterogeneous teams
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 3, May, 2004, pp. 3024 - 3029. [Abstract]
  Download: pdf [708 KB] copyrighted

• Interactive Multi-Modal Robot Programming
  S. Iba
  doctoral dissertation, tech. report CMU-RI-TR-04-50, Robotics Institute, Carnegie Mellon University, May, 2004. [Abstract]
  Download: pdf [2673 KB] copyrighted

• Optimal Sensor Placement for Cooperative Distributed Vision
  L.E. Navarro-Serment, J. Dolan, and P. Khosla
  Proceedings of the International Conference on Robotics and Automation (ICRA), April, 2004, pp. 939-944. [Abstract]
  Download: pdf [389 KB] copyrighted

• A Review: Pattern Formation and Adaptation in Multi-Robot Systems
  E. Bahceci, O. Soysal, and E. Sahin
  tech. report CMU-RI-TR-03-43, Robotics Institute, Carnegie Mellon University, October, 2003. [Abstract]
  Download: pdf [113 KB] copyrighted

• Autonomous exploration via regions of interest
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), Vol. 2, October, 2003, pp. 1691 - 1696. [Abstract]
  Download: pdf [566 KB] copyrighted

• Intention aware interactive multi-modal robot programming
  S. Iba, C. Paredis, and P. Khosla
  Proceedings. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, October, 2003, pp. 3479 - 3484.
  Download: pdf [526 KB] copyrighted

• Millibot trains for enhanced mobility
  H. Brown, M. Vande Weghe, C. Bererton, and P. Khosla
  IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452 - 461.
  Download: pdf [1135 KB] copyrighted

• Millibot Trains for Enhanced Mobility
  H. Brown, J.M.V. WEGHE, C.A. BERERTON, and P.K. KHOSLA
  IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452-461. [Abstract]

• Millibots
  L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  IEEE Robotics & Automation Magazine, December, 2002, pp. 31 - 40. [Abstract]
  Download: pdf [1296 KB] copyrighted

• A Probabilistic Approach for the Adaptive Integration of Multiple Visual Cues Using an Agent Framework
  A. Soto
  doctoral dissertation, tech. report CMU-RI-TR-02-30, Robotics Institute, Carnegie Mellon University, October, 2002. [Abstract]
  Download: pdf [3197 KB] copyrighted

• Distributed Surveillance and Reconnaissance Using Multiple Autonomous ATVs: CyberScout
  M. Saptharishi, C.S. Oliver, C.P. Diehl, K. Bhat, J. Dolan, A. Trebi-Ollennu, and P. Khosla
  IEEE Transactions on Robotics and Automation: Special Issue on Multi-Robot Systems, Vol. 18, No. 5, October, 2002, pp. 826 - 836. [Abstract]
  Download: pdf [351 KB] copyrighted

• Behavioral model composition in simulation-based design
  R. Sinha, C. Paredis, and P. Khosla
  Proceedings of the 35th Annual Simulation Symposium, April, 2002, pp. 308 - 315. [Abstract]
  Download: pdf [340 KB] copyrighted

• Localization Techniques for a Team of Small Robots
  R. Grabowski and P. Khosla
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'01), Vol. 2, October, 2001, pp. 1067 - 1072. [Abstract]
  Download: pdf [506 KB] copyrighted

• Control of the Gyrover: a single-wheel gyroscopically stabilized robot
  E. Ferreira, S. Tsai, C. Paredis, and H. Brown
  Advanced Robotics, Vol. 14, No. 6, June, 2000, pp. 459 - 475.

• Millibots: Small Distributed Robots for Surveillance and Mapping
  C. Bererton, L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  Government Microcircuit Applications Conference, March, 2000.

• An Architecture for Gesture Based Control of Mobile Robots
  S. Iba, M. Vande Weghe, C. Paredis, and P. Khosla
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 2, October, 1999, pp. 851 - 857. [Abstract]
  Download: pdf [365 KB] copyrighted

• Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot
  S. Tsai, E. Ferreira, and C. Paredis
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 1, October, 1999, pp. 179 - 184. [Abstract]
  Download: pdf [264 KB] copyrighted

• Decoupled dynamics and stabilization of single wheel robot
  K.W. Au and Y. Xu
  Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), Vol. 1, October, 1999, pp. 197 - 203. [Abstract]
  Download: pdf [447 KB] copyrighted

• Modeling human strategy in controlling a dynamically stabilized robot
  Y. Xu, W. Yu, and K.W. Au
  Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), Vol. 1, October, 1999, pp. 507 - 512. [Abstract]
  Download: pdf [418 KB] copyrighted

• RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems
  K. Dixon, J. Dolan, W. Huang, C. Paredis, and P. Khosla
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 3, October, 1999, pp. 1360-1367. [Abstract]
  Download: pdf [181 KB] copyrighted

• Modularity in Small Distributed Robots
  L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  Proceedings of the SPIE conference on Sensor Fusion and Decentralized Control in Robotic Systems II, September, 1999. [Abstract]
  Download: pdf [258 KB] copyrighted

• A Beacon System for the Localization of Distributed Robotic Teams
  L.E. Navarro-Serment, C. Paredis, and P. Khosla
  Proceedings of the International Conference on Field and Service Robotics (FSR '99), August, 1999.
  Download: pdf [341 KB] copyrighted

• Combining Information Technology Components and Symbolic Equation Manipulation in Modeling and Simulation of Mechatronic Systems
  A. Diaz-Calderon, C. Paredis, and P. Khosla
  Proceedings of the 1999 IEEE International Symposium on Computer Aided Control System Design, August, 1999, pp. 144 - 150. [Abstract]
  Download: pdf [80 KB] copyrighted

• On-Line Planning of Flexible Assembly Systems: An Agent-Based Approach
  C. Wang and C. Paredis
  Proceedings of the 15th ISPE / IEE International Conference on CAD/CAM, Robotics and Factories of the Future, August, 1999.
  Download: pdf [117 KB] copyrighted

• Dynamic mobility with single-wheel configuration
  Y. Xu, H. Brown, and K.W. Au
  International Journal of Robotics Research, Vol. 18, No. 7, July, 1999, pp. 728 - 738. [Abstract]
  Download: pdf [135 KB], ps.gz [178 KB] copyrighted

• On the Synthesis of the System Graph for 3D Mechanics
  A. Diaz-Calderon, C. Paredis, and P. Khosla
  Proceedings of the 18th American Control Conference, Vol. 5, June, 1999, pp. 3137 - 3141. [Abstract]
  Download: pdf [46 KB] copyrighted

• Agent-Based Planning and Control of a Multi-Manipulator Assembly System
  J. Fraile, C. Paredis, C. Wang, and P. Khosla
  Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Vol. 2, May, 1999, pp. 1219 - 1225. [Abstract]
  Download: pdf [66 KB] copyrighted

• Collaborative Surveillance using Both Fixed and Mobile Unattended Sensor Platforms
  D. Chris, S. Mahesh, H. John, and K. Pradeep
  Proceedings of SPIE's 13th Annual International Conference on Aerospace/Defense Sensing, Simulation, and Controls, Vol. 3693, April, 1999. [Abstract]
  Download: pdf [363 KB], ps.gz [249 KB] copyrighted

• Continuous Probabilistic Mapping by Autonomous Robots
  J. Salido-Tercero, C. Paredis, and P. Khosla
  Proceedings of the 1999 International Symposium on Experimental Robotics, March, 1999.
  Download: pdf [219 KB] copyrighted

• A composable simulation environment for mechatronic systems
  A. Diaz-Calderon, C. Paredis, and P. Khosla
  SCS 1999 European Simulation Symposium, 1999.
  Download: pdf [109 KB] copyrighted

• Heterogeneous Teams of Modular Robots for Mapping and Exploration
  R. Grabowski, L.E. Navarro-Serment, C. Paredis, and P. Khosla
  Autonomous Robots - Special Issue on Heterogeneous Multirobot Systems, 1999. [Abstract]
  Download: pdf [614 KB] copyrighted

• Heterogeneous Teams of Modular Robots for Mapping and Exploration
  L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  tech. report ICES 04-11-99, ICES, Carnegie Mellon University, 1999.

• Explorations in Asynchronous Teams
  S. Sachdev
  doctoral dissertation, Electrical and Computer Engineering, Carnegie Mellon University, December, 1998.
  Download: pdf [473 KB] copyrighted

• Analysis of actuation and dynamic balancing for a single-wheel robot
  Y. Xu, K.W. Au, G.C. Nandy, and H. Brown
  Intelligent Robots and Systems, Vol. 3, October, 1998, pp. 1789 -1794. [Abstract]
  Download: pdf [399 KB] copyrighted

• A Modular Composable Software Architecture for the Simulation of Mechatronic Systems
  A. Diaz-Calderon, C. Paredis, and P. Khosla
  ASME Computers in Engineering Conference, September, 1998.
  Download: pdf [315 KB] copyrighted

• Capturing Articulation in Assemblies from Component Geometry
  R. Sinha, C. Paredis, and S. Gupta
  ASME Design Automation Conference, September, 1998.
  Download: pdf [315 KB] copyrighted

• Generating 3D Spatial Layouts using A-Teams
  S. Sachdev, C. Paredis, S. Gupta, and S. Talukdar
  ASME Design Automation Conference, September, 1998.
  Download: pdf [249 KB] copyrighted

• Dynamic model of a gyroscopic wheel
  G.C. Nandy and Y. Xu
  Proc. 1998 IEEE Int'l Conference on Robotics and Automation (ICRA '98), Vol. 3, May, 1998, pp. 2683 - 2688. [Abstract]
  Download: pdf [482 KB] copyrighted

• A single-wheel, gyroscopically stabilized robot
  H. Brown and Y. Xu
  IEEE Robotics and Automation Magazine, Vol. 4, No. 3, September, 1997, pp. 39-44. [Abstract]
  Download: pdf [1477 KB] copyrighted

• Toward Gesture-Based Programming: Agent-Based Haptic Skill Acquisition and Interpretation
  R. Voyles
  doctoral dissertation, tech. report CMU-RI-TR-97-36, Robotics Institute, Carnegie Mellon University, August, 1997. [Abstract]
  Download: pdf [4480 KB], ps.gz [10703 KB] copyrighted

• Sensorimotor Primitives for Programming Robotic Assembly Skills
  J. Morrow
  doctoral dissertation, tech. report CMU-RI-TR-97-23, Robotics Institute, Carnegie Mellon University, May, 1997. [Abstract]
  Download: pdf [1082 KB], ps.gz [984 KB] copyrighted

• The Chimera Methodology: Designing Dynamically Reconfigurable and Reusable Real-Time Software using Port-Based Objects
  D.B. Stewart and P. Khosla
  International Journal of Software Engineering and Knowledge Engineering, Vol. 6, No. 2, June, 1996, pp. 249-277.
  Download: pdf [103 KB], ps.gz [84 KB] copyrighted

• A rapidly deployable manipulator system
  C. Paredis, H. Brown, and P. Khosla
  Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Vol. 2, April, 1996, pp. 1434 - 1439. [Abstract]
  Download: pdf [892 KB] copyrighted

• A single wheel, gyroscopically stabilized robot
  H. Brown and Y. Xu
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 4, April, 1996, pp. 3658-3663. [Abstract]
  Download: pdf [695 KB] copyrighted

• Real-time vision-based detection of wire gapping on a rotating transformer core
  C.J. Taylor, E. Evans, J. Dolan, and P. Khosla
  SPIE Proceedings on Industrial Optical Sensors for Industrial Optical Sensors for Metrology and Inspection, Vol. 2349, November, 1994, pp. 235-246.

• The Chimera Methodology: Designing Dynamically Reconfigurable Real-Time Software using Port-Based Objects
  D.B. Stewart and P. Khosla
  The First Workshop on Object-Oriented Real-Time Dependable Systems, October, 1994, pp. 46-53. [Abstract]
  Download: pdf [55 KB], ps.gz [51 KB] copyrighted

• Surface-Closure Algorithms for Filament Winding of Non-Axisymmetric Cylindrical Parts
  J. Dolan, P. Khosla, and S. Talukdar
  Proceedings of the 25th International SAMPE Technical Conference, Vol. 25, October, 1993, pp. 680-691.
  Download: pdf [4904 KB] copyrighted

• Chimera 3.1: The Real-Time Operating System for Reconfigurable Sensor-Based Control Systems
  D.B. Stewart and P. Khosla
  Advanced Manipulators Laboratory, The Robotics Institute and Department of Electrical and Computer Engineering, Carnegie Mellon University, January, 1993.

• The Chimera II Real-Time Operating System for Advanced Sensor-Based Control Applications
  D.B. Stewart, D.E. Schmitz, and P. Khosla
  IEEE Trans. on Systems, Man, and Cybernetics, Vol. 22, No. 6, December, 1992, pp. 1282-1295. [Abstract]
  Download: pdf [69 KB], ps.gz [53 KB] copyrighted

• Implementing Real-Time Robotic Systems Using CHIMERA II
  D.B. Stewart, D.E. Schmitz, and P. Khosla
  IEEE International Conference on Systems Engineering, August, 1990, pp. 252 - 257. [Abstract]
  Download: pdf [631 KB] copyrighted

• CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control
  D.B. Stewart, D.E. Schmitz, and P. Khosla
  Proceedings of the IEEE International Symposium on Intelligent Control, September, 1989, pp. 265-271. [Abstract]
  Download: pdf [14 KB] copyrighted

• CHIMERA II: A Real-Time UNIX-Compatible Multiprocessor Operating System for Sensor-based Control Applications
  D.B. Stewart, D.E. Schmitz, and P.K. Kousla
  tech. report CMU-RI-TR-89-24, Robotics Institute, Carnegie Mellon University, September, 1989.
  Download: pdf [1352 KB] copyrighted

• CHIMERA: a real-time programming environment for manipulator control
  D.E. Schmitz, P. Khosla, R. Hoffman, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89),, Vol. 2, May, 1989, pp. 846 - 852. [Abstract]
  Download: pdf [567 KB] copyrighted

• Automatic generation of kinematics for a reconfigurable modular manipulator system
  L. Kelmar and P. Khosla
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '88), Vol. 2, April, 1988, pp. 663 - 668. [Abstract]
  Download: pdf [496 KB] copyrighted