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Publications, David Ferguson

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

• Randomized Path Planning for Redundant Manipulators without Inverse Kinematics
  M. Vande Weghe, D. Ferguson, and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots, November, 2007. [Abstract]
  Download: pdf [7324 KB] copyrighted

• A Generalized Framework for Solving Tightly-coupled Multirobot Planning Problems
  N. Kalra, D. Ferguson, and A. Stentz
  International Conference on Robotics and Automation (ICRA), April, 2007. [Abstract]

• Anytime, Dynamic Planning in High-dimensional Search Spaces
  D. Ferguson and A. Stentz
  IEEE International Conference on Robotics and Automation (ICRA), 2007. [Abstract]
  Download: pdf [865 KB] copyrighted

• Global Path Planning on-board the Mars Exploration Rovers
  J. Carsten, A. Rankin, D. Ferguson, and A. Stentz
  IEEE Aerospace Conference, 2007. [Abstract]
  Download: pdf [2607 KB] copyrighted

• 3D Field D: Improved Path Planning and Replanning in Three Dimensions
  J. Carsten, D. Ferguson, and A. Stentz
  Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 3381 - 3386. [Abstract]
  Download: pdf [1139 KB] copyrighted

• Anytime RRTs
  D. Ferguson and A. Stentz
  Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 5369 - 5375. [Abstract]
  Download: pdf [1108 KB] copyrighted

• Meet point planning for multirobot coordination
  S. Srinivasa and D. Ferguson
  IEEE International Symposium on Robotics and Automation, IEEE, August, 2006. [Abstract]
  Download: pdf [251 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.

• Anytime Path Planning and Replanning in Dynamic Environments
  J. van den Berg, D. Ferguson, and J. Kuffner
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006, pp. 2366 - 2371. [Abstract]
  Download: pdf [1851 KB] copyrighted

• Constrained Exploration for Studies in Multirobot Coordination
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006. [Abstract]
  Download: pdf [271 KB] copyrighted

• Replanning with RRTs
  D. Ferguson, N. Kalra, and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006, pp. 1243 - 1248. [Abstract]
  Download: pdf [351 KB] copyrighted

• Incremental Reconstruction of Generalized Voronoi Diagrams on Grids
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006. [Abstract]
  Download: pdf [4551 KB] copyrighted

• Multi-resolution Field D*
  D. Ferguson and A. Stentz
  Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006. [Abstract]
  Download: pdf [4756 KB] copyrighted

• Using Interpolation to Improve Path Planning: The Field D* Algorithm
  D. Ferguson and A. Stentz
  Journal of Field Robotics, Vol. 23, No. 2, February, 2006, pp. 79-101. [Abstract]
  Download: pdf [1040 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 Driving in Dynamic Environments
  S. Kolski, D. Ferguson, C. Stachniss, and R. Siegwart
  Workshop on Safe Navigation in Open and Dynamic Environments, IEEE International Conference on Intelligent Robots and Systems (IROS), 2006.
  Download: pdf [7757 KB] copyrighted

• Autonomous Driving in Structured and Unstructured Environments
  S. Kolski, D. Ferguson, M. Bellino, and R. Siegwart
  IEEE Intelligent Vehicles Symposium, 2006. [Abstract]
  Download: pdf [1269 KB] copyrighted

• Field D*: An Interpolation-based Path Planner and Replanner
  D. Ferguson and A. Stentz
  Proceedings of the International Symposium on Robotics Research (ISRR), October, 2005. [Abstract]
  Download: pdf [1540 KB] copyrighted

• A Guide to Heuristic-based Path Planning
  D. Ferguson, M. Likhachev, and A. Stentz
  Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS), June, 2005. [Abstract]
  Download: pdf [1806 KB] copyrighted

• Anytime Dynamic A*: An Anytime, Replanning Algorithm
  M. Likhachev, D. Ferguson, G. Gordon, A. Stentz, and S. Thrun
  Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), June, 2005. [Abstract]
  Download: pdf [4020 KB] copyrighted

• The Field D* Algorithm for Improved Path Planning and Replanning in Uniform and Non-Uniform Cost Environments
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-05-19, Robotics Institute, Carnegie Mellon University, June, 2005. [Abstract]
  Download: pdf [1920 KB] copyrighted

• Anytime Dynamic A*: The Proofs
  M. Likhachev, D. Ferguson, G. Gordon, A. Stentz, and S. Thrun
  tech. report CMU-RI-TR-05-12, Robotics Institute, Carnegie Mellon University, May, 2005. [Abstract]
  Download: pdf [163 KB] copyrighted

• Hoplites: A Market-Based Framework for Planned Tight Coordination in Multirobot Teams
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the International Conference on Robotics and Automation, April, 2005, pp. 1170 - 1177. [Abstract]
  Download: pdf [237 KB] copyrighted

• The Delayed D* Algorithm for Efficient Path Replanning
  D. Ferguson and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005, pp. 2045 - 2050. [Abstract]
  Download: pdf [205 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

• Focussed processing of MDPs for path planning
  D. Ferguson and A. Stentz
  Proceedings of the 16th IEEE International Conference on Tools with Artificial Intelligence (ICTAI '04), November, 2004, pp. 310 - 317. [Abstract]
  Download: pdf [172 KB] copyrighted

• Delayed D*: The Proofs
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-04-51, Robotics Institute, Carnegie Mellon University, September, 2004. [Abstract]
  Download: pdf [83 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

• Planning with Imperfect Information
  D. Ferguson and A. Stentz
  Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vol. 2, September, 2004, pp. 1926 - 1931. [Abstract]
  Download: pdf [225 KB], ps.gz [249 KB] copyrighted

• Hoplites: A Market Framework for Complex Tight Coordination in Multi-Agent Teams
  N. Kalra, A. Stentz, and D. Ferguson
  tech. report CMU-RI-TR-04-41, Robotics Institute, Carnegie Mellon University, August, 2004. [Abstract]
  Download: pdf [323 KB], ps.gz [225 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

• PAO* for Planning with Hidden State
  D. Ferguson, A. Stentz, and S. Thrun
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation, Vol. 3, April, 2004, pp. 2840 - 2847. [Abstract]
  Download: pdf [369 KB] copyrighted

• Focussed Dynamic Programming: Extensive Comparative Results
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-04-13, Robotics Institute, Carnegie Mellon University, March, 2004. [Abstract]
  Download: pdf [140 KB], ps.gz [114 KB] copyrighted

• Planning with Map Uncertainty
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-04-09, Robotics Institute, Carnegie Mellon University, February, 2004. [Abstract]
  Download: pdf [226 KB], ps.gz [258 KB] copyrighted

• Planning with Pinch Points
  D. Ferguson, A. Stentz, and S. Thrun
  tech. report CMU-RI-TR-04-06, Robotics Institute, Carnegie Mellon University, January, 2004. [Abstract]
  Download: pdf [267 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