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Bart Nabbe Adjunct Faculty (Adjunct) Email address: bana@cs.cmu.edu Office: CIC 410 Phone: (412) 297-4056 Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213

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Past Labs & Groups

Computational Sensor Laboratory - We are developing specialty imaging sensors for improving robustness and capabilities of robot vision systems.	Intelligent Desktop Group - We are developing vision technologies for intelligent desktops.
Vision and Mobile Robotics Lab - Our group studies fundamental problems of Computer Vision and ground mobile robotics.

Past Projects

Cognitive Colonies - We are developing the basic principles that will best govern a group of robots trying to do useful work in difficult and hazardous environments.	CTA Robotics - This project adresses the problems of scene interpretation and path planning for mobile robot navigation in natural environment.
Tactical Mobile Robotics - As part of the DARPA Tactial Mobile Robotics program, we are developing techniques for semi-autonomous navigation of a small robot in urban environments.	Tele-Graffiti - A system that allows two or more users to communicate remotely via hand-drawn sketches.

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.

• Extending the Path-Planning Horizon
  B. Nabbe and M. Hebert
  The International Journal of Robotics Research, Vol. 26, No. 10, October, 2007, pp. 997 - 1024. [Abstract]
  Download: pdf [2677 KB] copyrighted

• Planar batting under shape, pose, and impact uncertainty
  J. Fu, S. Srinivasa, N. Pollard, and B. Nabbe
  IEEE International Conference on Robotics and Automation (ICRA), April, 2007. [Abstract]
  Download: pdf [571 KB] copyrighted

• Opportunistic use of vision to push back the path-planning horizon
  B. Nabbe, D. Hoiem, A.A. Efros, and M. Hebert
  Proceedings: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 2388 - 2393. [Abstract]
  Download: pdf [709 KB] copyrighted

• Extending the Path-planning Horizon
  B. Nabbe
  doctoral dissertation, tech. report CMU-RI-TR-05-45, Robotics Institute, Carnegie Mellon University, July, 2005. [Abstract]
  Download: pdf [4195 KB] copyrighted

• Path Planning with Hallucinated Worlds
  B. Nabbe, S. Kumar, and M. Hebert
  Proceedings: IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Vol. 4, October, 2004, pp. 3123 - 3130. [Abstract]
  Download: pdf [639 KB] copyrighted

• Where and When to Look
  B. Nabbe and M. Hebert
  IROS 2003, IEEE, Vol. 1, October, 2003, pp. 920 - 927. [Abstract]
  Download: pdf [594 KB] copyrighted

• Toward Practical Cooperative Stereo for Robotic Colonies
  B. Nabbe and M. Hebert
  2002 IEEE International Conference on Robotics and Automation, Omnipress, Vol. 4, No. 2002, May, 2002, pp. 3328-3335. [Abstract]
  Download: pdf [1195 KB] copyrighted

• Tele-Graffiti: A Paper-Based Remote Sketching System
  N. Takao, J. Shi, S. Baker, I. Matthews, and B. Nabbe
  Proceedings of the 8th IEEE International Conference on Computer Vision, Vancouver, British Columbia, Vol. 2, July, 2001, pp. 750. [Abstract]
  Download: pdf [488 KB], ps.gz [1059 KB] copyrighted

• Distributed Robotic Mapping of Extreme Environments
  S. Thayer, B. Digney, M.B. Dias, A. Stentz, B. Nabbe, and M. Hebert
  Proceedings of SPIE: Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Vol. 4195, November, 2000. [Abstract]
  Download: pdf [2680 KB] copyrighted

• A Language for Reconfigurable Robot Control
  B. Nabbe
  master's thesis, tech. report CMU-RI-TR-98-32, Robotics Institute, Carnegie Mellon University, September, 1998. [Abstract]
  Download: pdf [518 KB], ps.gz [1035 KB] copyrighted