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Aaron Christopher Morris
Postdoctoral Fellow

Email address: acmorris@andrew.cmu.edu

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

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My research interest involves methods of improving human control over mobile robots. Current control methods involve the teleoperation of a single robot by one or more people. My work combines the advantages of adjustable autonomy and human workload analysis to create a control system that reconfigures itself to mitigate situations of cognitive overload. By doing so, a single person (or small group of people) can control more robots, more effectively.

artificial intelligence, field robotics, human-computer interaction, and mobile robots

• Ferret - We have developed a mine mapping robot.
• PerceptOR (NREC) - We have developed a novel semi-autonomous unmanned ground vehicle (UGV) that includes a dedicated unmanned air vehicle - a "Flying Eye" - that flies ahead of the UGV to detect hazards before the onboard UGV sensors would.

• Robotic Introspection for Exploration and Mapping of Subterranean Environments
  A.C. Morris
  doctoral dissertation, tech. report CMU-RI-TR-07-47, Robotics Institute, Carnegie Mellon University, December, 2007. [Abstract]
  Download: pdf [9402 KB] copyrighted

• Topological Exploration of Subterranean Environments
  D. Silver, D. Ferguson, A.C. Morris, and S. Thayer
  Journal of Field Robotics, Vol. 23, No. 6, July, 2006, pp. 395-415.

• 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

• Towards Topological Exploration of Abandoned Mines
  A.C. Morris, D. Silver, D. Ferguson, and S. Thayer
  Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005, pp. 2117 - 2123. [Abstract]
  Download: pdf [510 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

• Feature Extraction for Topological Mine Maps
  D. Silver, D. Ferguson, A.C. Morris, and S. Thayer
  Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vol. 1, September, 2004, pp. 773 - 779. [Abstract]
  Download: pdf [363 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

• Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
  A.C. Morris, D. Kurth, D. Huber, C. Whittaker, and S. Thayer
  International Conference on Field and Service Robotics (FSR), July, 2003. [Abstract]
  Download: pdf [1304 KB] copyrighted

• Robotic Walker that Provides Guidance
  A.C. Morris, R.R. Donamukkala, A. Kapuria, A. Steinfeld, J. Matthews, J. Dunbar-Jacobs, and S. Thrun
  Proceedings of the 2003 IEEE Conference on Robotics and Automation (ICRA '03), May, 2003. [Abstract]
  Download: pdf [525 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