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Marcel Bergerman
Systems Scientist

Associated center: VASC

Email address: marcel@cmu.edu

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

For more information, see my personal homepage.

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

My research interests include the following:

• Guidance, navigation, and control technologies for autonomous UAV systems.
• Modeling and control methodologies for fault detection
• and recovery, fault-induced system control reconfiguration and replanning, and their applications to manipulators and robotic vehicles.
• Control architectures and algorithms for homogeneous and heterogeneous robot teams, including multiple manipulators, ground robots, and air-ground vehicles.
• Development and application of robotic, telepresence, and human-machine interaction technologies to the educational area.
• Technology forecasting, planning and assessment. Integration of technology planning in system analysis, performance assessment, and design. Technological innovation, innovation management, strategic planning.

active perception, control, education, entertainment robotics, field robotics, manipulation, mobile robots, motion planning, planning, and space robotics

• Helicopter Lab - A vision-guided robot helicopter which can function in any weather conditions using only on-board intelligence and computing power.

• Autonomous Helicopter - Develop a vision-guided robot helicopter

• Multi-Level Autonomy Robot Telesupervision
  G. Podnar, J. Dolan, A. Elfes, and M. Bergerman
  Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA '08), May, 2008. [Abstract]
  Download: pdf [6410 KB] copyrighted

• Cascaded Position and Heading Control of a Robotic Helicopter
  M. Bergerman, O. Amidi, J.R. Miller, N.M. Vallidis, and T.J. Dudek
  Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '07), October, 2007, pp. 135 - 140. [Abstract]
  Download: pdf [618 KB] copyrighted

• Human Telesupervision of Very Heterogeneous Planetary Robot Teams
  G. Podnar, J. Dolan, A. Elfes, and M. Bergerman
  Proceedings of the 45th AIAA Aerospace Sciences Meeting (AIAA 2007), September, 2007. [Abstract]
  Download: pdf [7699 KB] copyrighted

• A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation
  E. Halberstam, L.E. Navarro-Serment, R. Conescu, S. Mau, G. Podnar, A.D. Guisewite, H. Brown, A. Elfes, J. Dolan, and M. Bergerman
  Tenth Biennial International Conference on Engineering, Construction, and Operations in Challenging Environments: Earth & Space 2006 Conference, ASCE, March, 2006. [Abstract]
  Download: pdf [2853 KB] copyrighted

• A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation
  E. Halberstam, L.E. Navarro-Serment, R. Conescu, S. Mau, G. Podnar, A.D. Guisewite, H. Brown, A. Elfes, J. Dolan, and M. Bergerman
  PowerPoint Presentation at the Earth & Space 2006 Conference, March, 2006.
  Download: pdf [1948 KB] copyrighted

• Human Telesupervision of a Fleet of Autonomous Robots for Safe and Efficient Space Exploration
  G. Podnar, J. Dolan, A. Elfes, M. Bergerman, H. Brown, and A.D. Guisewite
  Proceedings of the 1st Annual Conference on Human-Robot Interaction, March, 2006. [Abstract]
  Download: pdf [752 KB] copyrighted

• Safe and Efficient Robotic Space Exploration with Tele-Supervised Autonomous Robots
  A. Elfes, J. Dolan, G. Podnar, S. Mau, and M. Bergerman
  Proceedings of the AAAI Spring Symposium, March, 2006, pp. 104 - 113.. [Abstract]
  Download: pdf [2355 KB] copyrighted

• A Robotic Unmanned Aerial Vehicle for Environmental Research and Monitoring
  A. Elfes, M.F.M. Campos, M. Bergerman, S.S. Bueno, and G. Podnar
  First Scientific Conference on the Large Scale Biosphere-Atmosphere Experiment in Amazonia (LBA), June, 2000.

• Robust control of cooperative underactuated manipulators
  M. Bergerman, Y. Xu, and Y. Liu
  Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems, October, 1998, pp. 443 - 448. [Abstract]
  Download: pdf [125 KB], ps.gz [217 KB] copyrighted

• Control of cooperative underactuated manipulators: a robustness comparison study
  M. Bergerman, Y. Xu, and Y. Liu
  First Workshop on Robotics and Mechatronics, Vol. 1, September, 1998, pp. 279 - 286. [Abstract]
  Download: pdf [137 KB], ps.gz [353 KB] copyrighted