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Christopher Baker
PhD Student

Email address: tallbaker@cmu.edu

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Jump to: Research interests | Keywords | Labs & groups | Projects | Publications

Research interests

As a function of recent and rapid advancements in technology, real-world application domains are now becoming accessible to robotic systems. The first and perhaps most important problems posed to robots will be those involving environments that are unpleasant, dangerous, or completely impossible for a human worker to endure. I am pursuing the challenges surrounding the design, construction, integration and ongoing development of robotic systems for operation in otherwise inaccessible and/or hazardous environments. Specifically, I am researching hardware and software architectures and systems that enable robust, reliable and safe operation in difficult and uncertain environments.

I also maintain two responsibilities within the Robotics Institute: I manage the FRC Electronics Lab and am the current developer of the CMU 1394 Digital Camera Driver.

Research interest keywords

active perception, architectures, computer graphics, data visualization, field robotics, hazardous environments, mechatronics, mobile robots, motion planning, range data, range finders, sensor fusion, and systems engineering

Current Labs & Groups [Past labs]

Tele-Supervised Autonomous Robotics - Research in the T-SAR lab focusses on providing end-to-end tools for telesupervision of autonomous robots.

Current Projects [Past projects]

3D Mine Mapping - We are developing robotic systems for automated 3D mine mapping.	Tartan Racing - Carnegie Mellon University is teaming with General Motors to compete in the 2007 DARPA Urban Challenge.
Telesupervised Adaptive Ocean Sensor Fleet - We are developing a HAB Investigation Telesupervised Adaptive Sensor System (HABITASS) to address the limitations of existing systems.	Urban Challenge

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.

• Vehicle detection and tracking for the Urban Challenge
  M. Darms, C. Baker, P. Rybski, and C. Urmson
  5. Workshop Fahrerassistenzsysteme, M. Maurer & C. Stiller, ed., Freundeskreis Mess- und Regelungstechnik Karlsruhe e.V. (FMRT), Karlsruhe, 2008, pp. 57-67. [Abstract]
  Download: pdf [141 KB] copyrighted

• Recent Developments in Subterranean Robotics
  A.C. Morris, D. Ferguson, Z. Omohundro, D. Bradley, D. Silver, C. Baker, S. Thayer, W. Whittaker, and W.L. Whittaker
  Journal of Field Robotics, Vol. 23, No. 1, January, 2006, pp. 35-57. [Abstract]
  Download: pdf [2405 KB] copyrighted

• Autonomous exploration and mapping of abandoned mines
  S. Thrun, S. Thayer, W. Whittaker, C. Baker, W. Burgard, D. Ferguson, D. Haehnel, M. Montemerlo, A.C. Morris, Z. Omohundro, C. Reverte, and W.L. Whittaker
  IEEE Robotics and Automation Magazine, Vol. 11, No. 4, December, 2004, pp. 79-91. [Abstract]
  Download: pdf [2982 KB] copyrighted

• A Campaign in Autonomous Mine Mapping
  C. Baker, A.C. Morris, D. Ferguson, S. Thayer, C. Whittaker, Z. Omohundro, C. Reverte, W.L. Whittaker, D. Haehnel, and S. Thrun
  Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Vol. 2, April, 2004, pp. 2004 - 2009. [Abstract]
  Download: pdf [1335 KB] copyrighted

• A System for Volumetric Robotic Mapping of Abandoned Mines
  S. Thrun, D. Haehnel, D. Ferguson, M. Montemerlo, R. Triebel, W. Burgard, C. Baker, Z. Omohundro, S. Thayer, and W.L. Whittaker
  Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), Vol. 3, May, 2003, pp. 4270 - 4275. [Abstract]
  Download: pdf [1567 KB], ps.gz [5646 KB] copyrighted

• An Autonomous Robotic System for Mapping Abandoned Mines
  D. Ferguson, A.C. Morris, D. Haehnel, C. Baker, Z. Omohundro, C. Reverte, S. Thayer, W.L. Whittaker, C. Whittaker, W. Burgard, and S. Thrun
  Advances in Neural Information Processing Systems (NIPS 03), 2003. [Abstract]
  Download: pdf [1851 KB] copyrighted

• Experiments with nonholonomic manipulation
  S. Srinivasa, C. Baker, E. Sacks, G. Reshko, M. Mason, and M. Erdmann
  Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), IEEE, Vol. 2, May, 2002, pp. 2042 - 2047. [Abstract]
  Download: pdf [1264 KB] copyrighted