Graphics enhanced version of this site

Ross Alan Knepper
PhD Student

Associated center: NREC

Email address: rak@cmu.edu

Mailing address:
National Robotics Engineering Center
10 40th Street
Pittsburgh, PA 15201

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

My primary research interest is in local and regional motion planning for mobile robots in complex, unstructured environments such as cluttered or rough terrain. Algorithms for planning in full configuration space are increasingly necessary as robots continue to tackle ever more challenging environments. My goal is to defeat the curse of dimensionality by restricting the search space to the set of motions that are dynamically feasible for a particular vehicle. Applications of interest include off-road vehicles and planetary rovers. Other areas of interest are high-velocity operations and constructing better vehicle models for improved planning and control.

artificial intelligence, autonomous navigation, control, field robotics, mobile robots, motion planning, multi-agent systems, obstacle avoidance, planning, scheduling, and space robotics

• Manipulation Lab - The Manipulation Laboratory at Carnegie Mellon University investigates fundamental modes of manipulation under uncertainty.

• Very Rough Terrain Nonholonomic Trajectory Generation and Motion Planning for Rovers - We are developing rough terrain trajectory generation algorithms for local path planning and optimal regional motion planning methods using a constrained search space.

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

• 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

• 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

• 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

• Path planning and control for AERCam, a free-flying inspection robot in space
  H. Choset, R.A. Knepper, J. Flasher, S. Walker, A. Alford, D. Jackson, D. Kortenkamp, R. Burridge, and J. Fernandez
  Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 2, May, 1999, pp. 1396 - 1403. [Abstract]
  Download: pdf [364 KB], ps.gz [567 KB] copyrighted