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Publications, Alonzo Kelly

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

• Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices
  M. Pivtoraiko, T. Howard, I. Nesnas, and A. Kelly
  Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08), February, 2008. [Abstract]
  Download: pdf [941 KB] copyrighted

• Toward Optimal Sampling in the Space of Paths
  C. Green and A. Kelly
  13th International Symposium of Robotics Research, November, 2007. [Abstract]
  Download: pdf [3451 KB], ps.gz [642 KB] copyrighted

• State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments
  T. Howard, C. Green, and A. Kelly
  Proceedings of the 6th International Conferences on Field and Service Robotics, July, 2007. [Abstract]
  Download: pdf [2007 KB] copyrighted

• Terrain Aware Inversion of Predictive Models for Planetary Rovers
  A. Kelly and T. Howard
  Proceedings of the Nasa Science and Technology Conference, June, 2007. [Abstract]
  Download: pdf [587 KB] copyrighted

• 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

• Terrain Aware Inversion of Predictive Models for High Performance UGVs
  A. Kelly, T. Howard, and C. Green
  Proceedings of the SPIE Defense and Security Symposium, April, 2007, pp. 6561-6566. [Abstract]
  Download: pdf [1454 KB] copyrighted

• Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
  T. Howard and A. Kelly
  International Journal of Robotics Research, Vol. 26, No. 2, February, 2007, pp. 141-166. [Abstract]
  Download: pdf [9400 KB] copyrighted

• Optimal Sampling In the Space of Paths: Preliminary Results
  C. Green and A. Kelly
  tech. report CMU-RI-TR-06-51, Robotics Institute, Carnegie Mellon University, November, 2006. [Abstract]
  Download: pdf [1713 KB], ps.gz [625 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

• Trajectory and Spline Generation for All-Wheel Steering Mobile Robots
  T. Howard and A. Kelly
  Proceedings of the the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 4827 - 4832. [Abstract]
  Download: pdf [1862 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

• Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
  A. Kelly, A. Stentz, O. Amidi, M.W. Bode, D. Bradley, A. Diaz-Calderon, M. Happold, H. Herman, R. Mandelbaum, T. Pilarski, P. Rander, S. Thayer, N.M. Vallidis, and R. Warner
  The International Journal of Robotics Research, Vol. 25, No. 5-6, May, 2006, pp. 449-483. [Abstract]
  Download: pdf [847 KB] copyrighted

• Experimental Characterization of Commercial Flash Ladar Devices
  D. Anderson, H. Herman, and A. Kelly
  International Conference of Sensing and Technology, November, 2005. [Abstract]
  Download: pdf [414 KB] copyrighted

• OnLine Stability Margin and Attitude Estimation for Dynamic Articulating Mobile Robots
  A. Diaz-Calderon and A. Kelly
  International Journal of Robotics Research, October, 2005. [Abstract]
  Download: pdf [13936 KB] copyrighted

• Terrain-Adaptive Generation of Optimal Continuous Trajectories for Mobile Robots
  T. Howard and A. Kelly
  Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '05), September, 2005. [Abstract]
  Download: pdf [379 KB] copyrighted

• Generating near minimal spanning control sets for constrained motion planning in discrete state spaces
  M. Pivtoraiko and A. Kelly
  Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 3231 - 3237. [Abstract]
  Download: pdf [564 KB] copyrighted

• Trajectory Generation on Rough Terrain Considering Actuator Dynamics
  T. Howard and A. Kelly
  Proceedings of the 5th International Conference on Field and Service Robotics (FSR '05), July, 2005. [Abstract]
  Download: pdf [260 KB] copyrighted

• Efficient Construction of Globally Consistent Ladar Maps using Pose Network Topology and Nonlinear Programming
  A. Kelly and R. Unnikrishnan
  Proceedings of the 11th International Symposium of Robotics Research (ISRR '03), November, 2003. [Abstract]
  Download: pdf [615 KB] copyrighted

• Real-Time, Multi-Perspective Perception for Unmanned Ground Vehicles
  A. Stentz, A. Kelly, P. Rander, H. Herman, O. Amidi, R. Mandelbaum, G. Salgian, and J. Pedersen
  Proc. of AUVSI Unmanned Systems Symposium 2003, July, 2003. [Abstract]
  Download: pdf [302 KB] copyrighted

• A Constrained Optimization Approach to Globally Consistent Mapping
  R. Unnikrishnan and A. Kelly
  2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, October, 2002, pp. 564-569. [Abstract]
  Download: pdf [731 KB] copyrighted

• Integrated Air/Ground Vehicle System for Semi-Autonomous Off-Road Navigation
  A. Stentz, A. Kelly, H. Herman, P. Rander, O. Amidi, and R. Mandelbaum
  Proc. of AUVSI Unmanned Systems Symposium 2002, July, 2002. [Abstract]
  Download: pdf [531 KB] copyrighted

• Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles
  R. Unnikrishnan and A. Kelly
  IEEE International Conference on Robotics and Automation, 2002 (ICRA '02), Vol. 4, May, 2002, pp. 4299-4306. [Abstract]
  Download: pdf [4099 KB] copyrighted

• Mobile Robot Localization from Large Scale Appearance Mosaics
  A. Kelly
  tech. report CMU-RI-TR-00-21, Robotics Institute, Carnegie Mellon University, December, 2000. [Abstract]
  Download: pdf [1172 KB] copyrighted

• Some Useful Results for Closed-Form Propagation of Error in Vehicle Odometry
  A. Kelly
  tech. report CMU-RI-TR-00-20, Robotics Institute, Carnegie Mellon University, December, 2000. [Abstract]
  Download: pdf [1869 KB] copyrighted

• Pose Determination and Tracking in Image Mosaic-Based Vehicle Position Estimation
  A. Kelly
  International Conference on Intelligent Robots and Systems (IROS00), October, 2000. [Abstract]
  Download: pdf [530 KB], ps.gz [2834 KB] copyrighted

• Map Construction for Mosaic-Based Vehicle Position Estimation
  P. Rowe and A. Kelly
  International Conference on Intelligent Autonomous Systems (IAS6), July, 2000. [Abstract]
  Download: pdf [113 KB], ps.gz [541 KB] copyrighted

• Contemporary Feasibility of Image Mosaic Based Vehicle Position Estimation
  A. Kelly
  Proceedings of International Conference on Robotics and Applications (IASTED99), October, 1999. [Abstract]
  Download: pdf [1437 KB], ps.gz [1826 KB] copyrighted

• Rough Terrain Autonomous Mobility - Part 1: A Theoretical Analysis of Requirements
  A. Kelly and A. Stentz
  Autonomous Robots, No. 5, May, 1998, pp. 129 - 161.
  Download: pdf [333 KB], ps.gz [657 KB], ps.z [827 KB] copyrighted

• Rough terrain Autonomous Mobility - Part 2: An Active Vision, Predictive Control
  A. Kelly and A. Stentz
  Autonomous Robots, No. 5, May, 1998, pp. 163 - 198.
  Download: pdf [892 KB], ps.gz [1463 KB], ps.z [1685 KB] copyrighted

• Stereo Vision Enhancements for Low-Cost Outdoor Autonomous Vehicles
  A. Kelly and A. Stentz
  International Conference on Robotics and Automation, Workshop WS-7, Navigation of Outdoor Autonomous Vehicles, (ICRA '98), May, 1998. [Abstract]
  Download: pdf [213 KB], ps.gz [392 KB] copyrighted

• An Approach to Rough Terrain Autonomous Mobility
  A. Kelly and A. Stentz
  Autonomous Robots, April, 1998.

• An Analysis of Requirements for Rough Terrain Autonomous Mobility
  A. Kelly and A. Stentz
  Autonomous Robots, Vol. 4, No. 4, December, 1997.

• Minimum Throughput Adaptive Perception for High Speed Mobility
  A. Kelly and A. Stentz
  Proceedings of the IEEE/RJS International Conference on Intelligent Robotic Systems, Vol. 1, September, 1997, pp. 215 - 223. [Abstract]
  Download: pdf [466 KB], ps.gz [532 KB], ps.z [620 KB] copyrighted

• Analysis of Requirements for High Speed Rough Terrain Autonomous Mobility: I - Throughput and Response
  A. Kelly and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 4, April, 1997, pp. 3318 - 3325. [Abstract]
  Download: pdf [101 KB], ps.gz [107 KB], ps.z [157 KB] copyrighted

• Analysis of Requirements for High Speed Rough Terrain Autonomous Mobility: II - Resolution and Accuracy
  A. Kelly and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 4, April, 1997, pp. 3326 - 3333. [Abstract]
  Download: pdf [116 KB], ps.gz [135 KB], ps.z [192 KB] copyrighted

• Computational Complexity of Terrain Mapping Perception in Autonomous Mobility
  A. Kelly and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, April, 1997, pp. 1047 - 1052. [Abstract]
  Download: pdf [87 KB], ps.gz [118 KB], ps.z [164 KB] copyrighted

• An Approach to Rough Terrain Autonomous Mobility
  A. Kelly and A. Stentz
  International Conference on Mobile Planetary Robots, January, 1997. [Abstract]
  Download: pdf [892 KB], ps.gz [1458 KB], ps.z [1714 KB] copyrighted

• Chapter 7
  A. Kelly
  Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon, M. Hebert, C. Thorpe, and A Stentz, ed., Kluwer Academic Publishers, 1997.

• Robot Planning in the Space of Feasible Actions: Two Examples
  S. Singh and A. Kelly
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '96), Vol. 4, April, 1996, pp. 3309 - 3316. [Abstract]
  Download: pdf [382 KB], ps.gz [376 KB] copyrighted

• Obstacle Detection for Unmanned Ground Vehicles: A Progress Report
  L. Matthies, A. Kelly, T. Litwin, and G. Tharp
  7th International Symposium on Robotics Research, October, 1995.

• An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem
  A. Kelly
  doctoral dissertation, Robotics Institute, Carnegie Mellon University, September, 1995.
  Download: pdf [2853 KB], ps.gz [3016 KB], ps.z [3884 KB] copyrighted

• An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem
  A. Kelly
  tech. report CMU-RI-TR-95-33, Robotics Institute, Carnegie Mellon University, September, 1995. [Abstract]
  Download: pdf [17975 KB] copyrighted

• Obstacle detection for unmanned ground vehicles: a progress report
  L. Matthies, A. Kelly, T. Litwin, and G. Tharp
  Proceedings of IEEE Intelligent Vehicles `95 Conference, September, 1995, pp. 66 - 71. [Abstract]
  Download: pdf [854 KB] copyrighted

• Terrain Typing for Real Robots
  I. Davis, A. Kelly, A. Stentz, and L. Matthies
  Proceedings of IEEE Intelligent Vehicles `95 Conference, September, 1995, pp. 400 - 405. [Abstract]
  Download: pdf [516 KB] copyrighted

• Demonstration of an Autonomous Convoying Concept
  B. Motazed, D. Patukas, A. Kelly, D. Pomerleau, and T. Jochem
  Proceedings of the Fifth Annual Meeting of IVHS America, March, 1995.

• A 3D Space Formulation of a Navigation Kalman Filter for Autonomous Vehicles
  A. Kelly
  tech. report CMU-RI-TR-94-19, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [297 KB], ps.gz [239 KB] copyrighted

• A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles
  A. Kelly
  tech. report CMU-RI-TR-94-17, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [142 KB], ps.gz [104 KB] copyrighted

• A Partial Analysis of the High Speed Autonomous Navigation
  A. Kelly
  tech. report CMU-RI-TR-94-16, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [708 KB], ps.gz [651 KB] copyrighted

• Adaptive Perception for Autonomous Vehicles
  A. Kelly
  tech. report CMU-RI-TR-94-18, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [76 KB], ps.gz [561 KB] copyrighted

• An Intelligent Predictive Controller for Autonomous Vehicles
  A. Kelly
  tech. report CMU-RI-TR-94-20, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [110 KB], ps.gz [71 KB] copyrighted

• Concept Design of a Scanning Laser Rangefinder for Autonomous Vehicles
  A. Kelly
  tech. report CMU-RI-TR-94-21, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [430 KB], ps.gz [430 KB] copyrighted

• Essential Kinematics for Autonomous Vehicles
  A. Kelly
  tech. report CMU-RI-TR-94-14, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [127 KB], ps.gz [97 KB] copyrighted

• Modern Inertial and Satellite Navigation Systems
  A. Kelly
  tech. report CMU-RI-TR-94-15, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [289 KB], ps.gz [191 KB] copyrighted

• A System for Autonomous Cross Country Navigation
  B. Brummit, R.C. Coulter, A. Kelly, and A. Stentz
  IFAC Symposium on Intelligent Components and Instruments for Control Applications, May, 1992. [Abstract]
  Download: pdf [70 KB], ps.gz [97 KB] copyrighted

• An Autonomous System for Cross-Country Navigation
  A. Stentz, B. Brummit, R.C. Coulter, and A. Kelly
  Proceedings of SPIE Symposium on Mobile Robots, 1992.

• Terrain Map Building for Fast Navigation on Rugged Outdoor Terrain
  A. Kelly, A. Stentz, and M. Hebert
  Proceedings of SPIE Symposium on Mobile Robots, 1992.