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Publications, Pradeep Khosla

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

• Adaptive Sampling for Multi-Robot Wide-Area Exploration
  K.H. Low, G. Gordon, J. Dolan, and P. Khosla
  Proceedings of the IEEE 2007 International Conference on Robotics and Automation (ICRA '07), April, 2007. [Abstract]
  Download: pdf [122 KB] copyrighted

• Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications
  W. Ang, P. Khosla, and C. Riviere
  IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, April, 2007, pp. 134-142. [Abstract]
  Download: pdf [368 KB] copyrighted

• Nonlinear Regression Model of a Low-g MEMS Accelerometer
  W. Ang, P. Khosla, and C. Riviere
  IEEE Sensors Journal, Vol. 7, No. 1, January, 2007, pp. 81-88. [Abstract]
  Download: pdf [703 KB] copyrighted

• On the Interdependence of Sensing and Estimation Complexity in Sensor Networks
  Y. Rachlin, R. Negi, and P. Khosla
  Proceedings of the Fifth International Symposium on Information Processing in Sensor Networks (IPSN '06), April, 2006. [Abstract]
  Download: pdf [536 KB] copyrighted

• Adaptive Sampling for Multi-Robot Wide Area Prospecting
  K.H. Low, G. Gordon, J. Dolan, and P. Khosla
  tech. report CMU-RI-TR-05-51, Robotics Institute, Carnegie Mellon University, October, 2005. [Abstract]
  Download: pdf [273 KB] copyrighted

• Interactive Multimodal Robot Programming
  S. Iba, C. Paredis, and P. Khosla
  International Journal of Robotics Research, Vol. 24, No. 1, January, 2005, pp. 83-104. [Abstract]

• Efficient Mapping Through Exploitation of Spatial Dependencies
  Y. Rachlin, J. Dolan, and P. Khosla
  Proceedings of the International Conference on Intelligent Robots and Systems (IROS '05), 2005. [Abstract]
  Download: pdf [290 KB] copyrighted

• Sensing Capacity for Discrete Sensor Network Applications
  Y. Rachlin, R. Negi, and P. Khosla
  Proceedings of The Fourth International Symposium on Information Processing in Sensor Networks (IPSN'05), 2005. [Abstract]
  Download: pdf [333 KB] copyrighted

• Sensing Capacity for Markov Random Fields
  Y. Rachlin, R. Negi, and P. Khosla
  International Symposium on Information Theory (ISIT) 2005, 2005. [Abstract]
  Download: pdf [171 KB] copyrighted

• Kalman filtering for real-time orientation tracking of handheld microsurgical instrument
  W. Ang, P. Khosla, and C. Riviere
  Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), Vol. 3, October, 2004, pp. 2574 - 2580.
  Download: pdf [769 KB] copyrighted

• Flow-based Video Synthesis and Editing
  K. Bhat, S. Seitz, J.K. Hodgins, and P. Khosla
  ACM Transactions on Graphics (SIGGRAPH 2004), Vol. 23, No. 3, August, 2004. [Abstract]
  Download: pdf [2691 KB] copyrighted

• Interactive Multi-Modal Robot Programming
  S. Iba, C. Paredis, and P. Khosla
  9th International Symposium on Experimental Robotics, June, 2004. [Abstract]
  Download: pdf [726 KB] copyrighted

• Development and deployment of a line of sight virtual sensor for heterogeneous teams
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 3, May, 2004, pp. 3024 - 3029. [Abstract]
  Download: pdf [708 KB] copyrighted

• Optimal Sensor Placement for Cooperative Distributed Vision
  L.E. Navarro-Serment, J. Dolan, and P. Khosla
  Proceedings of the International Conference on Robotics and Automation (ICRA), April, 2004, pp. 939-944. [Abstract]
  Download: pdf [389 KB] copyrighted

• Physical model of a MEMS accelerometer for low-g motion tracking applications
  W. Ang, S. Khoo, P. Khosla, and C. Riviere
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 2, April, 2004, pp. 1345 - 1351. [Abstract]
  Download: pdf [556 KB] copyrighted

• Active tremor compensation in microsurgery
  W. Ang, P. Khosla, and C. Riviere
  Proceedings of 26th Annual International Conference of the Engineering in Medicine and Biology Society, Vol. 4, 2004, pp. 2738 - 2741. [Abstract]
  Download: pdf [322 KB] copyrighted

• Crucial Factors in Cooperative Multirobot Learning
  P. Tangamchit, J. Dolan, and P. Khosla
  Journal of Intelligent Automation and Soft Computing, Vol. 10, 2004, pp. 323-336. [Abstract]
  Download: pdf [254 KB] copyrighted

• Predictive Robot Programming: Theoretical and Experimental Analysis
  K. Dixon, J. Dolan, and P. Khosla
  International Journal of Robotics Research, Vol. 23, 2004, pp. 955-973. [Abstract]
  Download: pdf [342 KB] copyrighted

• Sensing Capacity for Target Detection
  Y. Rachlin, R. Negi, and P. Khosla
  Proceedings of the Information Theory Workshop, 2004. [Abstract]
  Download: pdf [254 KB] copyrighted

• An enhanced occupancy map for exploration via pose separation
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), Vol. 1, October, 2003, pp. 705 - 710. [Abstract]
  Download: pdf [0 KB] copyrighted

• Autonomous exploration via regions of interest
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), Vol. 2, October, 2003, pp. 1691 - 1696. [Abstract]
  Download: pdf [566 KB] copyrighted

• Crucial Factors Affecting Cooperative Multirobot Learning
  P. Tangamchit, J. Dolan, and P. Khosla
  IEEE/RSJ International Conference on Intelligent Robots and Systems 2003, October, 2003. [Abstract]
  Download: pdf [67 KB] copyrighted

• Intention aware interactive multi-modal robot programming
  S. Iba, C. Paredis, and P. Khosla
  Proceedings. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, October, 2003, pp. 3479 - 3484.
  Download: pdf [526 KB] copyrighted

• Toward Active Tremor Canceling in Handheld Microsurgical Instruments
  C. Riviere, W. Ang, and P. Khosla
  IEEE Transactions on Robotics and Automation, Vol. 15, No. 5, October, 2003, pp. 793-800. [Abstract]
  Download: pdf [767 KB] copyrighted

• Crucial Factors Affecting Decentralized Multirobot Learning in an Object Manipulation Task
  P. Tangamchit, J. Dolan, and P. Khosla
  ACM/SIGART Workshop on Agent Swarm Programming 2003 (WASP'03), September, 2003. [Abstract]
  Download: pdf [245 KB] copyrighted

• Design of All-Accelerometer Inertial Measurement Unit for Tremor Sensing in Hand-held Microsurgical Instrument
  W. Ang, P. Khosla, and C. Riviere
  IEEE International Conference on Robotics and Automation, IEEE, September, 2003, pp. 1781-1786. [Abstract]
  Download: pdf [424 KB] copyrighted

• Rate-dependent inverse hysteresis feedforward controller for microsurgical tool
  F. Alija-Garmón, W. Ang, P. Khosla, and C. Riviere
  25th Annual Conference IEEE Engineering in Medicine and Biology Society, September, 2003, pp. 3415 - 3418. [Abstract]
  Download: pdf [373 KB] copyrighted

• Estimating Cloth Simulation Parameters from Video
  K. Bhat, C.D. Twigg, J.K. Hodgins, P. Khosla, Z. Popovic, and S. Seitz
  In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, July, 2003, pp. 37 - 51. [Abstract]
  Download: pdf [7472 KB] copyrighted

• Learning to Detect Partially Labeled People
  Y. Rachlin, J. Dolan, and P. Khosla
  Proceedings of the 2003 International Conference on Intelligent Robots and Systems (IROS'03), 2003. [Abstract]
  Download: pdf [273 KB] copyrighted

• Modeling Rate-dependent Hysteresis in Piezoelectric Actuator
  W. Ang, C. Riviere, and P. Khosla
  Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003, pp. 1975 - 1980. [Abstract]
  Download: pdf [388 KB] copyrighted

• Millibot trains for enhanced mobility
  H. Brown, M. Vande Weghe, C. Bererton, and P. Khosla
  IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452 - 461.
  Download: pdf [1135 KB] copyrighted

• Millibots
  L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  IEEE Robotics & Automation Magazine, December, 2002, pp. 31 - 40. [Abstract]
  Download: pdf [1296 KB] copyrighted

• Distributed Surveillance and Reconnaissance Using Multiple Autonomous ATVs: CyberScout
  M. Saptharishi, C.S. Oliver, C.P. Diehl, K. Bhat, J. Dolan, A. Trebi-Ollennu, and P. Khosla
  IEEE Transactions on Robotics and Automation: Special Issue on Multi-Robot Systems, Vol. 18, No. 5, October, 2002, pp. 826 - 836. [Abstract]
  Download: pdf [351 KB] copyrighted

• Assistive Human-Machine Interfaces via Artificial Neural Netwoks
  W. Ang, C. Riviere, and P. Khosla
  Proc. of the 3rd International Symposium on Robotics and Automation, September, 2002, pp. 477-480. [Abstract]
  Download: pdf [270 KB] copyrighted

• An analysis of cooperative repair capabilities in a team of robots
  C. Bererton and P. Khosla
  Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), Vol. 1, May, 2002, pp. 476 - 482. [Abstract]
  Download: pdf [812 KB] copyrighted

• Computing the Physical Parameters of Rigid-Body Motion from Video
  K. Bhat, S. Seitz, J. Popovic, and P. Khosla
  Proceedings of the 7th European Conference on Computer Vision (ECCV '02), May, 2002, pp. 551 - 565. [Abstract]
  Download: pdf [795 KB] copyrighted

• Interactive Multi-Modal Robot Programming
  S. Iba, C. Paredis, and P. Khosla
  Proceedings of the International Conf. on Robotics and Automations, May, 2002, pp. 161-168. [Abstract]
  Download: pdf [3258 KB] copyrighted

• The Necessity of Average Rewards in Cooperative Multirobot Learning
  P. Tangamchit, J. Dolan, and P. Khosla
  IEEE Conference on Robotics and Automation 2002, May, 2002. [Abstract]
  Download: pdf [176 KB] copyrighted

• Behavioral model composition in simulation-based design
  R. Sinha, C. Paredis, and P. Khosla
  Proceedings of the 35th Annual Simulation Symposium, April, 2002, pp. 308 - 315. [Abstract]
  Download: pdf [340 KB] copyrighted

• Probabilistic Adaptive Agent Based System for Dynamic State Estimation Using Multiple Visual Cues
  A. Soto and P. Khosla
  10th International Symposium of Robotics Research (ISRR 2001). November 9th - 12th, 2001Lorne, Victoria, Australia., November, 2001. [Abstract]
  Download: pdf [2798 KB] copyrighted

• A Multi-layered Planner for Self-Reconfiguration of a Uniform Group of I-Cube Modules
  C. Unsal and P. Khosla
  IROS 2001, October, 2001.

• An intelligent hand-held microsurgical instrument for improved accuracy
  W. Ang, P. Khosla, and C. Riviere
  Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3450-3453. [Abstract]
  Download: pdf [496 KB] copyrighted

• Design and implementation of active error canceling in hand-held microsurgical instrument
  W. Ang, C. Riviere, and P. Khosla
  Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Vol. 2, October, 2001, pp. 1106-1111. [Abstract]
  Download: pdf [463 KB] copyrighted

• Localization Techniques for a Team of Small Robots
  R. Grabowski and P. Khosla
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'01), Vol. 2, October, 2001, pp. 1067 - 1072. [Abstract]
  Download: pdf [506 KB] copyrighted

• Towards a team of robots with reconfiguration and repair capabilities
  C. Bererton and P. Khosla
  Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), Vol. 3, May, 2001, pp. 2923 - 2928. [Abstract]
  Download: pdf [932 KB] copyrighted

• A 3-D Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion Planning
  C. Unsal, H. Kiliccote, and P. Khosla
  Autonomous Robots, Vol. 10, No. 1, January, 2001, pp. 23-40.

• Organization and selection of reconfigurable models
  A. Diaz-Calderon, C. Paredis, and P. Khosla
  Proceedings of the Winter Simulation Conference, Vol. 1, December, 2000, pp. 386 - 393. [Abstract]
  Download: pdf [766 KB] copyrighted

• Toward a Team of Robots with Repair Capabilities: A Visual Docking System
  C. Bererton and P. Khosla
  Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000.
  Download: pdf [790 KB] copyrighted

• Motion Planning for a Modular Self-Reconfiguring Robotic System
  C. Unsal, H. Kiliccote, M. Patton, and P. Khosla
  Distributed Autonomous Robotic Systems 4, Springer, November, 2000.
  Download: pdf [325 KB] copyrighted

• Solutions for 3-D Self-reconfiguration in a Modular Robotic System: Implementation and Motion Planning
  C. Unsal and P. Khosla
  Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems III, SPIE, Vol. 4196, November, 2000.
  Download: pdf [3331 KB] copyrighted

• An Active Hand-held Instrument for Enhanced Microsurgical Accuracy
  W. Ang, C. Riviere, and P. Khosla
  Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention, Springer, October, 2000, pp. 878-886. [Abstract]
  Download: pdf [260 KB] copyrighted

• Learning-Based Task Allocation in Decentralized Multirobot Systems
  P. Tangamchit, J. Dolan, and P. Khosla
  Proceedings of the 5th International Symposium on Distributed Autonomous Robotic Systems (DARS 2000), October, 2000, pp. 381-390.
  Download: pdf [0 KB], ps.gz [74 KB] copyrighted

• Multi agent collaboration using distributed value functions
  E. Ferreira and P. Khosla
  Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2000), October, 2000, pp. 404 - 409. [Abstract]
  Download: pdf [508 KB] copyrighted

• CyberScout: Distributed Agents for Autonomous Reconnaissance and Surveillance
  M. Saptharishi, C. Diehl, K. Bhat, J. Dolan, and P. Khosla
  Mechatronics and Machine Vision 2000, September, 2000, pp. 93-100. [Abstract]
  Download: pdf [1444 KB] copyrighted

• Multi-robot Path Planning by Predicting Structure in a Dynamic Environment
  S. Oliver, M. Saptharishi, J. Dolan, A. Trebi-Ollennu, and P. Khosla
  Proceedings of the First IFAC Conference on Mechatronic Systems, Vol. II, September, 2000, pp. 593-598.
  Download: pdf [97 KB] copyrighted

• Motion Detection and Segmentation Using Image Mosaics
  K. Bhat, M. Saptharishi, and P. Khosla
  IEEE International Conference on Multimedia and Expo, Vol. 3, July, 2000, pp. 1577-1580. [Abstract]
  Download: pdf [220 KB] copyrighted

• Agent-Based Moving Object Correspondence Using Differential Discriminative Diagnosis
  M. Saptharishi, J.B. Hampshire, II, and P. Khosla
  IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Vol. 2, June, 2000, pp. 652-658. [Abstract]
  Download: pdf [260 KB] copyrighted

• Mechatronic Design of a Modular Self-Reconfiguring Robotic System
  C. Unsal and P. Khosla
  International Conference on Robotics and Automation, IEEE, April, 2000.
  Download: pdf [1142 KB] copyrighted

• Recent Advances in Distributed Tactical Surveillance
  M. Saptharishi, K. Bhat, C. Diehl, S. Oliver, M. Savvides, A. Soto, J. Dolan, and P. Khosla
  SPIE Proceedings on Unattended Ground Sensor Technologies and Applications (AeroSense 2000), Vol. 4040, April, 2000, pp. 199-208.
  Download: pdf [334 KB] copyrighted

• Millibots: Small Distributed Robots for Surveillance and Mapping
  C. Bererton, L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  Government Microcircuit Applications Conference, March, 2000.

• Intraoperative tremor monitoring for vitreoretinal microsurgery
  M. Gomez-Blanco, C. Riviere, and P. Khosla
  Proc. Medicine Meets Virtual Reality 8, 2000.

• Sensing Hand Tremor in a Vitreoretinal Microsurgical Instrument
  M. Gomez-Blanco, C. Riviere, and P. Khosla
  tech. report CMU-RI-TR-99-39, Robotics Institute, Carnegie Mellon University, December, 1999. [Abstract]
  Download: pdf [172 KB] copyrighted

• Adaptive Fuzzy Throttle Control for an All Terrain Vehicle
  A. Trebi-Ollennu, J. Dolan, and P. Khosla
  Proceedings of the IASTED International Conference on Intelligent Systems and Control, October, 1999. [Abstract]
  Download: pdf [141 KB] copyrighted

• An Architecture for Gesture Based Control of Mobile Robots
  S. Iba, M. Vande Weghe, C. Paredis, and P. Khosla
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 2, October, 1999, pp. 851 - 857. [Abstract]
  Download: pdf [365 KB] copyrighted

• Intraoperative instrument motion sensing for microsurgery
  M. Gomez-Blanco, C. Riviere, and P. Khosla
  Proceedings of the 20th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, October, 1999, pp. 864. [Abstract]
  Download: pdf [63 KB] copyrighted

• RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems
  K. Dixon, J. Dolan, W. Huang, C. Paredis, and P. Khosla
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 3, October, 1999, pp. 1360-1367. [Abstract]
  Download: pdf [181 KB] copyrighted

• Vehicle sound signature recognition by frequency vector principal component analysis
  H. Wu, M. Siegel, and P. Khosla
  IEEE Transactions on Instrumentation and Measurement, Vol. 48, No. 5, October, 1999, pp. 1005 - 1009. [Abstract]
  Download: pdf [103 KB] copyrighted

• I(CES)-Cubes: A Modular Self-Reconfigurable Bipartite Robotic System
  C. Unsal, H. Kiliccote, and P. Khosla
  SPIE Proceedings, Conference on Mobile Robots and Autonomous Systems, SPIE, September, 1999.
  Download: pdf [5689 KB] copyrighted

• Microscale Tracking of Surgical Instrument Motion
  C. Riviere and P. Khosla
  Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention, Lecture Notes In Computer Science, Vol. 1679, September, 1999, pp. 1080 - 1087.

• Modularity in Small Distributed Robots
  L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  Proceedings of the SPIE conference on Sensor Fusion and Decentralized Control in Robotic Systems II, September, 1999. [Abstract]
  Download: pdf [258 KB] copyrighted

• A Beacon System for the Localization of Distributed Robotic Teams
  L.E. Navarro-Serment, C. Paredis, and P. Khosla
  Proceedings of the International Conference on Field and Service Robotics (FSR '99), August, 1999.
  Download: pdf [341 KB] copyrighted

• Combining Information Technology Components and Symbolic Equation Manipulation in Modeling and Simulation of Mechatronic Systems
  A. Diaz-Calderon, C. Paredis, and P. Khosla
  Proceedings of the 1999 IEEE International Symposium on Computer Aided Control System Design, August, 1999, pp. 144 - 150. [Abstract]
  Download: pdf [80 KB] copyrighted

• Cyber-ATVs: Dynamic and Distributed Reconnaissance and Surveillance Using All-Terrain UGVs
  A. Soto, M. Saptharishi, A. Trebi-Ollennu, J. Dolan, and P. Khosla
  Proceedings of the International Conference on Field and Service Robotics, August, 1999, pp. 329-334. [Abstract]
  Download: pdf [463 KB] copyrighted

• On the Synthesis of the System Graph for 3D Mechanics
  A. Diaz-Calderon, C. Paredis, and P. Khosla
  Proceedings of the 18th American Control Conference, Vol. 5, June, 1999, pp. 3137 - 3141. [Abstract]
  Download: pdf [46 KB] copyrighted

• Agent-Based Planning and Control of a Multi-Manipulator Assembly System
  J. Fraile, C. Paredis, C. Wang, and P. Khosla
  Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Vol. 2, May, 1999, pp. 1219 - 1225. [Abstract]
  Download: pdf [66 KB] copyrighted

• Collaborative Surveillance using Both Fixed and Mobile Unattended Sensor Platforms
  C. Diehl, M. Saptharishi, J.B. Hampshire, II, and P. Khosla
  SPIE's 13th Annual International Conference on Aerospace/Defense Sensing, Simulation, and Controls, Vol. 3713, April, 1999, pp. 178-185. [Abstract]
  Download: pdf [190 KB] copyrighted

• Distributed Tactical Surveillance with ATVs
  J. Dolan, A. Trebi-Ollennu, A. Soto, and P. Khosla
  SPIE Proceedings on Unmanned Ground Vehicle Technology (AeroSense '99), Vol. 3693, April, 1999, pp. 192-199. [Abstract]
  Download: pdf [350 KB] copyrighted

• Continuous Probabilistic Mapping by Autonomous Robots
  J. Salido-Tercero, C. Paredis, and P. Khosla
  Proceedings of the 1999 International Symposium on Experimental Robotics, March, 1999.
  Download: pdf [219 KB] copyrighted

• A composable simulation environment for mechatronic systems
  A. Diaz-Calderon, C. Paredis, and P. Khosla
  SCS 1999 European Simulation Symposium, 1999.
  Download: pdf [109 KB] copyrighted

• Gesture-Based Programming for Robotics: Human Augmented Software Adaptation
  R. Voyles, J. Morrow, and P. Khosla
  special issue of IEEE Intelligent Systems on self-adaptive software, Vol. 14, No. 6, 1999, pp. 22 - 29. [Abstract]
  Download: pdf [3367 KB] copyrighted

• Heterogeneous Teams of Modular Robots for Mapping and Exploration
  R. Grabowski, L.E. Navarro-Serment, C. Paredis, and P. Khosla
  Autonomous Robots - Special Issue on Heterogeneous Multirobot Systems, 1999. [Abstract]
  Download: pdf [614 KB] copyrighted

• Heterogeneous Teams of Modular Robots for Mapping and Exploration
  L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  tech. report ICES 04-11-99, ICES, Carnegie Mellon University, 1999.

• The Metaphor Project Summary Report: Technology for Analyzing Change and Composing Reusable, Real-Time Components and Applications
  C.L. Hoover and P. Khosla
  tech. report CMU-RI-TR-98-29, Robotics Institute, Carnegie Mellon University, December, 1998. [Abstract]
  Download: pdf [78 KB], ps.gz [226 KB] copyrighted

• Analytical Partition of Software Components for Evolvable and Reliable MEMS Design Tools
  C.L. Hoover and P. Khosla
  Proceedings of the Third IEEE International High-Assurance Systems Engineering Symposium, November, 1998, pp. 188-199. [Abstract]
  Download: pdf [1288 KB] copyrighted

• A Modular Composable Software Architecture for the Simulation of Mechatronic Systems
  A. Diaz-Calderon, C. Paredis, and P. Khosla
  ASME Computers in Engineering Conference, September, 1998.
  Download: pdf [315 KB] copyrighted

• Capturing Articulation in Assemblies from Component Geometry
  R. Sinha, C. Paredis, S. Gupta, and P. Khosla
  Proceedings of DETC98, Computers in Engineering Conference, September, 1998.
  Download: pdf [315 KB] copyrighted

• A Multi-Agent System for Programming Robotic Agents by Human Demonstration
  R. Voyles and P. Khosla
  Proceedings of AI and Manufacturing Research Planning Workshop, August, 1998. [Abstract]
  Download: pdf [772 KB], ps.gz [4128 KB] copyrighted

• Vehicle Sound Signature Recognition by Frequency Vector Principle Component Analysis
  H. Wu, M. Siegel, and P. Khosla
  Proceedings of the 15th Annual IEEE Instrumentation and Measurement Technology Conference, May, 1998.
  Download: pdf [212 KB], ps.gz [109 KB] copyrighted

• Error recognition for rehabilitation and microsurgery
  C. Riviere and P. Khosla
  Proc. Sixth ACM International Multimedia Conference: Workshop on Face and Gesture Recognition and its Applications, 1998.

• Design of dynamically reconfigurable real-time software using port-based objects
  D. Stewart, R. Volpe, and P. Khosla
  IEEE Trans. on Software Engineering, Vol. 23, No. 12, December, 1997, pp. 759 - 776.
  Download: pdf [883 KB] copyrighted

• Towards gesture-based programming: Shape from motion primordial learning of sensorimotor primitives
  R. Voyles, J. Morrow, and P. Khosla
  Robotics and Autonomous Systems, Vol. 22, No. 3-4, December, 1997, pp. 361-375. [Abstract]
  Download: pdf [299 KB] copyrighted

• A Modified Reactive Control Framework for Cooperative Mobile Robots
  J. Salido-Tercero, J. Dolan, J.B. Hampshire, II, and P. Khosla
  SPIE International Symposium on Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, Vol. 3209, October, 1997, pp. 90-100.
  Download: pdf [188 KB], ps.gz [101 KB] copyrighted

• Active handheld instrument for error compensation in microsurgery
  C. Riviere and P. Khosla
  Intelligent Systems and Advanced Manufacturing: Technical Conference on Microrobotics and Microsystem Fabrication, October, 1997, pp. 86-95.
  Download: pdf [107 KB], ps.gz [78 KB] copyrighted

• Characteristics of hand motion of eye surgeons
  C. Riviere, R.S. Rader, and P. Khosla
  19th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 4, October, 1997, pp. 1690 - 1693. [Abstract]
  Download: pdf [98 KB], ps.gz [53 KB] copyrighted

• Analytical Design of Evolutionary Control Flow Components
  C.L. Hoover and P. Khosla
  Second Workshop on High Assurance Systems Engineering, IEEE Computer Society Press, August, 1997.
  Download: pdf [53 KB], ps.gz [167 KB] copyrighted

• The Shape from Motion Approach to Rapid and Precise Force/Torque Sensor Calibration
  R. Voyles, J. Morrow, and P. Khosla
  Journal of Dynamic Systems, Measurement and Control, Vol. 119, No. 2, June, 1997, pp. 229 - 235. [Abstract]
  Download: pdf [414 KB] copyrighted

• Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking
  C. Paredis and P. Khosla
  IEEE International Conference on Robotics and Automation, Vol. 4, April, 1997, pp. 3473-3480. [Abstract]
  Download: pdf [132 KB], ps.gz [101 KB] copyrighted

• Augmenting the human-machine interface: improving manual accuracy
  C. Riviere and P. Khosla
  IEEE International Conference on Robotics and Automation, Vol. 4, April, 1997, pp. 3546 - 3550. [Abstract]
  Download: pdf [25 KB], ps.gz [36 KB] copyrighted

• Collaborative Calibration: Extending Shape from Motion Calibration
  R. Voyles and P. Khosla
  IEEE International Conference on Robotics and Automation, Vol. 4, April, 1997, pp. 2795 - 2800. [Abstract]
  Download: pdf [37 KB] copyrighted

• Integrating Force and Vision Feedback Within Virtual Environments for Telerobotic Systems
  B. Nelson and P. Khosla
  IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 2, April, 1997, pp. 1588-1593. [Abstract]
  Download: pdf [750 KB] copyrighted

• Manipulation Task Primitives for Composing Robot Skills
  J. Morrow and P. Khosla
  IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 4, April, 1997, pp. 3354-3359. [Abstract]
  Download: pdf [599 KB] copyrighted

• Tropism-Based Cognition for the Interpretation of Context-Dependent Gestures
  R. Voyles, A. Agah, P. Khosla, and G.A. Bekey
  IEEE International Conference On Robotics and Automation, April, 1997, pp. 3481-3486. [Abstract]
  Download: pdf [54 KB] copyrighted

• Mechanisms for detecting and handling timing errors
  D.B. Stewart and P. Khosla
  Communications of the ACM, Vol. 40, No. 1, January, 1997, pp. 87-94.
  Download: pdf [28 KB], ps.gz [31 KB] copyrighted

• RMMS: Reconfigurable Modular Manipulator System Project
  C. Paredis and P. Khosla
  Video Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997.

• Task-Based Design of Manipulators: An Agent-Based Approach
  C. Paredis and P. Khosla
  Proceedings of the 1997 ASME Design Engineering Technical Conference, No. DETC97-DAC-3853, 1997.

• Designing Fault Tolerant Manipulators: How Many Degrees-of-Freedom?
  C. Paredis and P. Khosla
  International Journal of Robotics Research, Vol. 15, No. 6, December, 1996, pp. 611-628.
  Download: pdf [726 KB], ps.gz [313 KB] copyrighted

• Including Sensor Bias in Shape from Motion Calibration and Multisensor Fusion
  R. Voyles, J. Morrow, and P. Khosla
  IEEE Multisensor Fusion and Integration Conference, December, 1996. [Abstract]
  Download: pdf [39 KB], ps.gz [46 KB] copyrighted

• Gesture-Based Programming, Part 1: A Multi-Agent Approach
  R. Voyles and P. Khosla
  Intelligent Engineering through Artificial Neural Networks-Volume 6: Fuzzy Logic and Evolutionary Programming, Proceedings of ANNIE '96: Conference on Artificial Neural Networks in Engineering, November, 1996. [Abstract]
  Download: pdf [25 KB], ps.gz [28 KB] copyrighted

• Gesture-Based Programming, Part 2: Primordial Learning
  R. Voyles, J. Morrow, and P. Khosla
  Intelligent Engineering through Artificial Neural Networks-Volume 6: Fuzzy Logic and Evolutionary Programming, Proceedings of ANNIE '96: Conference on Artificial Neural Networks in Engineering, November, 1996. [Abstract]
  Download: pdf [36 KB], ps.gz [31 KB] copyrighted

• Accuracy in positioning of handheld instruments
  C. Riviere and P. Khosla
  18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Bridging Disciplines for Biomedicine, Vol. 1, October, 1996, pp. 212 - 213. [Abstract]
  Download: pdf [146 KB] copyrighted

• Policy-Independent Real-Time Operating System Mechanism for Timing Error Detection, Handling, and Monitoring
  D.B. Stewart and P. Khosla
  IEEE Workshop on High Assurance Systems Engineering, October, 1996.
  Download: pdf [40 KB], ps.gz [43 KB] copyrighted

• Fault Tolerant Task Execution through Global Trajectory Planning
  C. Paredis and P. Khosla
  Reliability Engineering and System Safety, Vol. 53, No. 3, September, 1996, pp. 225-235.
  Download: pdf [433 KB], ps.gz [177 KB] copyrighted

• Robotic Manipulation Using High Bandwidth Force and Vision Feedback
  B. Nelson and P. Khosla
  Mathl. Comput. Modelling, Vol. 24, No. 5/6, September, 1996, pp. 11-29.

• Robotic Visual Servoing and Robotic Assembly Tasks
  B. Nelson, N.P. Papanikolopoulos, and P. Khosla
  IEEE Robotics and Automation Magazine, Vol. 3, No. 2, June, 1996, pp. 23-31. [Abstract]
  Download: pdf [14 KB] copyrighted

• The Chimera Methodology: Designing Dynamically Reconfigurable and Reusable Real-Time Software using Port-Based Objects
  D.B. Stewart and P. Khosla
  International Journal of Software Engineering and Knowledge Engineering, Vol. 6, No. 2, June, 1996, pp. 249-277.
  Download: pdf [103 KB], ps.gz [84 KB] copyrighted

• A rapidly deployable manipulator system
  C. Paredis, H. Brown, and P. Khosla
  Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Vol. 2, April, 1996, pp. 1434 - 1439. [Abstract]
  Download: pdf [892 KB] copyrighted

• Design of a Modular Tactile Sensor and Actuator Based on an Electrorheological Gel
  R. Voyles, G. Fedder, and P. Khosla
  Proceedings of 1996 IEEE International Conference on Robotics and Automation, Vol. 1, April, 1996, pp. 13 - 17. [Abstract]
  Download: pdf [86 KB] copyrighted

• An Analytical Approach to Change for the Design of Reusable Real-Time Software
  C.L. Hoover and P. Khosla
  Proceedings of the Second Workshop on Object-Oriented Real-Time Dependable Systems, IEEE Computer Society Press, February, 1996, pp. 144-151. [Abstract]
  Download: pdf [33 KB], ps.gz [47 KB] copyrighted

• On the Equivalence of Second Order Impedance Control and Proportional Gain Explicit Force Control
  R. Volpe and P. Khosla
  International Journal of Robotics Research, Vol. 14, No. 6, December, 1995.
  Download: pdf [517 KB], ps.gz [452 KB] copyrighted

• Shape from Motion Approach to Rapid and Precise Force/Torque Sensor Calibration
  R. Voyles, J. Morrow, and P. Khosla
  ASME International Mechanical Engineering Congress and Exposition, November, 1995. [Abstract]
  Download: pdf [106 KB], ps.gz [216 KB], ps.z [259 KB] copyrighted

• A Rapidly Deployable Manipulator System
  C. Paredis, H. Brown, R.W. Casciola, J.E. Moody, and P. Khosla
  Workshop on Some Critical Issues in Robotics, October, 1995.

• Multi-Agent Gesture Interpretation for Robotic Cable Harnessing
  R. Voyles and P. Khosla
  IEEE Conference on Systems, Man, and Cybernetics, Vol. 2, October, 1995, pp. 1113 - 1118. [Abstract]
  Download: pdf [96 KB], ps.gz [304 KB], ps.z [364 KB] copyrighted

• Shape from Motion Decomposition as a Learning Approach for Autonomous Agents
  R. Voyles, J. Morrow, and P. Khosla
  IEEE Conference on Systems, Man, and Cybernetics, October, 1995. [Abstract]
  Download: pdf [74 KB], ps.gz [184 KB] copyrighted

• Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters
  N. Papanikolopoulos, B. Nelson, and P. Khosla
  IEEE Transactions on Robotics and Automation, Vol. 11, No. 5, October, 1995, pp. 725 - 732.
  Download: pdf [182 KB], ps.gz [173 KB] copyrighted

• Visually Servoed Manipulation Using an Active Camera
  B. Nelson and P. Khosla
  Thirty-Third Annual Allerton Conf. on Communication, Control, and Computing, October, 1995. [Abstract]
  Download: pdf [208 KB] copyrighted

• A Touch Reflection System for Interaction with Remote and Virtual Environments
  K. Shimoga, A. Murray, and P. Khosla
  IEEE/RSJ International Conf. on Intelligent Robots and Systems, August, 1995.

• Fast Stable Contact Transitions with a Stiff Manipulator Using Force and Vision Feedback
  B. Nelson, J. Morrow, and P. Khosla
  Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, August, 1995, pp. 90 - 95. [Abstract]
  Download: pdf [557 KB] copyrighted

• Global trajectory planning for fault tolerant manipulators
  C. Paredis and P. Khosla
  IEEE/RSJ International Conf. on Intelligent Robots and Systems, Vol. 2, August, 1995, pp. 428-434. [Abstract]
  Download: pdf [272 KB], ps.gz [109 KB] copyrighted

• Measuring the difficulty of assembly tasks from tool access information
  A. Diaz-Calderon, D. Navin-Chandra, and P. Khosla
  IEEE International Symposium on Assembly and Task Planning, August, 1995, pp. 87 - 93. [Abstract]
  Download: pdf [185 KB], ps.gz [192 KB] copyrighted

• Rapid Development of Robotic Applications using Component-Based Real-Time Software
  D.B. Stewart and P. Khosla
  Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 1995, pp. 465-470.
  Download: pdf [46 KB], ps.gz [45 KB] copyrighted

• Tactile Gestures for Human/Robot Interaction
  R. Voyles and P. Khosla
  IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 1995. [Abstract]
  Download: pdf [255 KB], ps.gz [314 KB], ps.z [359 KB] copyrighted

• Vision and Force Driven Sensorimotor Primitives for Robotic Assembly Skills
  J. Morrow, B. Nelson, and P. Khosla
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, August, 1995, pp. 234-240.
  Download: pdf [71 KB], ps.gz [110 KB] copyrighted

• Gravitational Stability of Frictionless Assemblies
  R. Mattikalli, D. Baraff, P. Khosla, and B. Repetto
  IEEE Trans. on Robotics and Automation, Vol. 11, No. 3, June, 1995, pp. 374-388. [Abstract]
  Download: pdf [1322 KB] copyrighted

• Improved Force Control Through Visual Servoing
  B. Nelson, J. Morrow, and P. Khosla
  American Control Conference, June, 1995.
  Download: pdf [166 KB], ps.gz [311 KB] copyrighted

• Strategies for Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance
  B. Nelson and P. Khosla
  International Journal of Robotics Research, Vol. 14, No. 3, June, 1995.
  Download: pdf [97 KB], ps.gz [92 KB] copyrighted

• An Extendable Framework for Visual Servoing Using Environment Models
  B. Nelson and P. Khosla
  IEEE International Conference on Robotics and Automation, May, 1995. [Abstract]
  Download: pdf [78 KB], ps.gz [224 KB] copyrighted

• Sensorimotor Primitives for Robotic Assembly Skills
  J. Morrow and P. Khosla
  IEEE International Conference on Robotics and Automation, May, 1995.
  Download: pdf [57 KB], ps.gz [114 KB] copyrighted

• Force and Vision Resolvability for Assimilating Disparate Sensory Feedback
  B. Nelson and P. Khosla
  tech. report CMU-RI-TR-95-11, Robotics Institute, Carnegie Mellon University, March, 1995. [Abstract]
  Download: pdf [460 KB], ps.gz [566 KB] copyrighted

• Design of modular fault tolerant manipulators
  C. Paredis and P. Khosla
  Algorithmic Foundations of Robotics, 1995, pp. 371-383.
  Download: pdf [1311 KB], ps.gz [506 KB] copyrighted

• Determining two minimal circumscribing disks for a polygon
  Y. Xu, R.S. Mattikalli, and P. Khosla
  International Journal of Computer-Aided Design, Vol. 27, No. 3, 1995, pp. 223-234.

• Developing Compatible Grasp and Fixture Plans
  W. Carriker, R. Mattikalli, and P. Khosla
  1995, pp. 354-361.

• Finding All Stable Orientations of Assemblies with Friction
  R. Mattikalli, D. Baraff, and P. Khosla
  IEEE Trans. on Robotics and Automation, 1995.

• Generation of partial medial axis for disassembly motion plan
  Y. Xu, R.S. Mattikalli, and P. Khosla
  Journal of Design and Manufacturing, Vol. 5, 1995, pp. 89-102.

• Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms
  D. Baraff, R. Mattikalli, and P. Khosla
  Algorithmica, Special issue on Computational Geometry in Manufacturing, 1995.
  Download: pdf [948 KB] copyrighted

• Robotic Manipulation Using High Bandwidth Force and Vision Feedback
  B. Nelson, J. Morrow, and P. Khosla
  Mathematical and Computer Modelling - An International Journal, 1995. [Abstract]
  Download: pdf [475 KB] copyrighted

• A Human-Machine Interface to Support Reconfigurable Software Assembly for Virtual Laboratories
  M.W. Gertz, D.B. Stewart, and P. Khosla
  IEEE Robotics and Automation Magazine, Vol. 1, No. 4, December, 1994.
  Download: pdf [131 KB], ps.gz [141 KB], ps.z [204 KB] copyrighted

• Real-time vision-based detection of wire gapping on a rotating transformer core
  C.J. Taylor, E. Evans, J. Dolan, and P. Khosla
  SPIE Proceedings on Industrial Optical Sensors for Industrial Optical Sensors for Metrology and Inspection, Vol. 2349, November, 1994, pp. 235-246.

• Touch and Force Reflection for Telepresence Surgery
  K. Shimoga and P. Khosla
  Proceedings of the 16th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Engineering Advances: New Opportunities for Biomedical Engineers, Vol. 2, November, 1994, pp. 1049 - 1050. [Abstract]
  Download: pdf [207 KB] copyrighted

• Visual and Force Feedback to Aid Neurosurgical Probe Insertion
  K. Shimoga and P. Khosla
  Proceedings of the 16th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Engineering Advances: New Opportunities for Biomedical Engineers, Vol. 2, November, 1994, pp. 1051 - 1052. [Abstract]
  Download: pdf [204 KB] copyrighted

• The Chimera Methodology: Designing Dynamically Reconfigurable Real-Time Software using Port-Based Objects
  D.B. Stewart and P. Khosla
  The First Workshop on Object-Oriented Real-Time Dependable Systems, October, 1994, pp. 46-53. [Abstract]
  Download: pdf [55 KB], ps.gz [51 KB] copyrighted

• Multi-Agent Perception for Human/Robot Interaction: A Framework for Intuitive Trajectory Modification
  R. Voyles and P. Khosla
  tech. report CMU-RI-TR-94-33, Robotics Institute, Carnegie Mellon University, September, 1994. [Abstract]
  Download: pdf [276 KB], ps.gz [322 KB] copyrighted

• Using Hypermedia and Reconfigurable Software Assembly to Support Virtual Laboratories and Factories
  M.W. Gertz, D.B. Stewart, B. Nelson, and P. Khosla
  Fifth International Symposium on Robotics and Manufacturing, Vol. 5, August, 1994, pp. 493-500.
  Download: pdf [85 KB], ps.gz [109 KB], ps.z [160 KB] copyrighted

• Software Assembly for Real Time Applications Based on a Distributed Shared Memory Model
  D.B. Stewart, M.W. Gertz, and P. Khosla
  1994 Complex Systems Engineering Synthesis and Assessment Technology Workshop, July, 1994, pp. 214-224.
  Download: pdf [50 KB], ps.gz [59 KB], ps.z [93 KB] copyrighted

• Analysis and Experimental Verification of a Fourth Order Plant Model for Manipulator Force Control
  R. Volpe and P. Khosla
  IEEE Robotics and Automation Magazine, Vol. 1, No. 2, June, 1994.
  Download: pdf [264 KB], ps.gz [172 KB] copyrighted

• The Resolvability Ellipsoid for Visual Servoing
  B. Nelson and P. Khosla
  Proc. of the 1994 Conf. on Computer Vision and Pattern Recognition (CVPR 94), June, 1994.
  Download: pdf [258 KB], ps.gz [285 KB] copyrighted

• Visual Programming and Program Visualization Techniques for Port-Based Objects
  M. Gertz and P. Khosla
  ANS: 1994 Annual Meeting of the American Nuclear Society, June, 1994.
  Download: pdf [60 KB], ps.gz [85 KB], ps.z [118 KB] copyrighted

• Finding all gravitationally stable orientations of assemblies
  R. Mattikalli, D. Baraff, and P. Khosla
  International Conference on Robotics and Automation, IEEE, May, 1994, pp. 251 - 257. [Abstract]
  Download: pdf [298 KB], ps.gz [137 KB], ps.z [206 KB] copyrighted

• Integrating Sensor Placement and Visual Tracking Strategies
  B. Nelson and P. Khosla
  Proc. 1994 IEEE Int. Conf. on Robotics and Automation, Vol. 2, May, 1994, pp. 1351-1356. [Abstract]
  Download: pdf [491 KB] copyrighted

• Mapping Tasks into Fault Tolerant Manipulators
  C. Paredis and P. Khosla
  Proc. of the 1994 IEEE International Conference on Robotics and Automation, Vol. 1, May, 1994, pp. 696-703. [Abstract]
  Download: pdf [74 KB], ps.gz [56 KB] copyrighted

• Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters
  N.P. Papanikolopoulos, B. Nelson, and P. Khosla
  Proc. 1994 IEEE Int. Conf. on Robotics and Automation, May, 1994, pp. 174-179.
  Download: pdf [171 KB], ps.gz [175 KB] copyrighted

• Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms
  D. Baraff, R. Mattikalli, and P. Khosla
  tech. report CMU-RI-TR-94-08, Robotics Institute, Carnegie Mellon University, April, 1994. [Abstract]
  Download: pdf [221 KB], ps.gz [137 KB] copyrighted

• Onika: A Multilevel Human-Machine Interface for Real-Time Sensor-Based Robotics Systems
  M. Gertz and P. Khosla
  ASCE: SPACE 94: The 4th Intternational Conference and Exposition on Engineering, Construction, and Operations in Space, February, 1994.
  Download: pdf [48 KB], ps.gz [43 KB], ps.z [64 KB] copyrighted

• Computational Considerations in the Implementation of Force Control Strategies
  R. Volpe and P. Khosla
  Journal of Intelligent and Robotic Systems: Theory and Applications. Special Issue on Computational Aspects of Robot Kinematics, Dynamics, and Control, Vol. 9, 1994, pp. 121 - 148.
  Download: pdf [327 KB], ps.gz [204 KB] copyrighted

• Exploiting Redundancy to Reduce Impact Force
  J. Kim, M. Gertz, and P. Khosla
  Journal of Intelligent and Robotic Systems, Vol. 9, 1994, pp. 273-290.

• Generating assembly plans from 3-D solid modeler
  R. Mattikalli, P. Khosla, and Y. Xu
  Intelligent Systems in Design and Manufacturing, 1994, pp. 293-317.

• Kinematic Design of Fault Tolerant Manipulators
  C. Paredis, W.K.F. Au, and P. Khosla
  Computers & Electrical Engineering, Vol. 20, No. 3, 1994, pp. 211-220.

• Teleneurosurgery: An Approach to Enhance the Dexterity of Neurosurgeons
  K. Shimoga, P. Khosla, and R.J. Sclabassi
  Proceedings of the Symposium on Medicine Meets Virtual Reality II, 1994, pp. 203.

• A Theoretical and Experimental Investigation of Explicit Force Control Strategies for Manipulators
  R. Volpe and P. Khosla
  IEEE Transactions on Automatic Control, Vol. 38, No. 11, November, 1993.
  Download: pdf [686 KB], ps.gz [645 KB] copyrighted

• Experimental Robotics III: The Third International Symposium
  B. Nelson and P. Khosla
  October, 1993.

• Integrating Sensor Placement and Visual Tracking Strategies
  B. Nelson and P. Khosla
  The Third International Symposium on Experimental Robotics III, October, 1993.
  Download: pdf [301 KB], ps.gz [248 KB] copyrighted

• Surface-Closure Algorithms for Filament Winding of Non-Axisymmetric Cylindrical Parts
  J. Dolan, P. Khosla, and S. Talukdar
  Proceedings of the 25th International SAMPE Technical Conference, Vol. 25, October, 1993, pp. 680-691.
  Download: pdf [4904 KB] copyrighted

• The Resolvability Ellipsoid for Sensor Based Manipulation
  B. Nelson and P. Khosla
  tech. report CMU-RI-TR-93-28, Robotics Institute, Carnegie Mellon University, October, 1993. [Abstract]
  Download: pdf [420 KB], ps.gz [665 KB] copyrighted

• A Human-Machine Interface for Reconfigurable Sensor-Based Control Systems
  M. Gertz, D.B. Stewart, and P. Khosla
  AIAA: Space Programs and Technologies, September, 1993.
  Download: pdf [60 KB], ps.gz [54 KB], ps.z [77 KB] copyrighted

• A Software Architecture-Based Human-Machine Interface for Reconfigurable Sensor-Based Control Systems
  M. Gertz, D.B. Stewart, and P. Khosla
  IEEE: 8th IEEE International Symposium on Intelligent Control, August, 1993.
  Download: pdf [50 KB], ps.gz [46 KB], ps.z [63 KB] copyrighted

• A Theoretical and Experimental Investigation of Impact Control for Manipulators
  R. Volpe and P. Khosla
  International Journal of Robotics Research, Vol. 12, No. 4, August, 1993.
  Download: pdf [324 KB], ps.gz [207 KB] copyrighted

• A Formulation of Task Based Design of Robot Manipulators
  J. Kim and P. Khosla
  IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS 93), Vol. 3, July, 1993, pp. 2310 - 2317. [Abstract]
  Download: pdf [780 KB] copyrighted

• Design of Dynamically Reconfigurable Real-Time Software using Port-Based Objects
  D.B. Stewart, R.A. Volpe, and P. Khosla
  tech. report CMU-RI-TR-93-11, Robotics Institute, Carnegie Mellon University, July, 1993. [Abstract]
  Download: pdf [1423 KB] copyrighted

• Dynamic Sensor Placement Using Controlled Active Vision
  B. Nelson, N.P. Papanikolopoulos, and P. Khosla
  Proceedings of the International Federation of Automatic Control, July, 1993.
  Download: pdf [28 KB], ps.gz [39 KB] copyrighted

• Robotic contour following based on visual servoing
  E.C. Maniere, P. Couvignou, and P. Khosla
  Proceedings of the 1993 IEIEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), Vol. 2, July, 1993, pp. 716 - 722. [Abstract]
  Download: pdf [608 KB] copyrighted

• Stability of Assemblies
  P. Khosla, B. Repetto, and D. Baraff
  Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, July, 1993, pp. 652-661.
  Download: pdf [97 KB], ps.gz [103 KB], ps.z [147 KB] copyrighted

• Visual Servoing for Robotic Assembly
  B. Nelson, N. Papanikolopoulos, and P. Khosla
  Proc. of International Federation of Automatic Control (IFAC '93), July, 1993.

• Finding Stable Orientations of Assemblies with Linear Programming
  D. Baraff, R. Mattikalli, B. Repetto, and P. Khosla
  tech. report CMU-RI-TR-93-13, Robotics Institute, Carnegie Mellon University, June, 1993. [Abstract]
  Download: pdf [109 KB], ps.gz [65 KB] copyrighted

• Kinematic Design of Serial Link Manipulators from Task Specifications
  C. Paredis and P. Khosla
  The International Journal of Robotics Research, Vol. 12, No. 3, June, 1993, pp. 274-287.
  Download: pdf [726 KB], ps.gz [313 KB] copyrighted

• Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design
  J. Kim and P. Khosla
  IEEE International Conference on Robotics and Automation (ICRA '93), Vol. 3, May, 1993, pp. 867 - 874. [Abstract]
  Download: pdf [722 KB] copyrighted

• Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance
  B. Nelson and P. Khosla
  IEEE International Conference on Robotics and Automation, Vol. 3, May, 1993, pp. 418 - 423.
  Download: pdf [51 KB], ps.gz [61 KB] copyrighted

• A Manipulator Control System for Creating Radiation Maps Using Mercuric Iodide (HgI2) Detectors
  M. Kume and P. Khosla
  American Neclear Society Fifth Topical meeting on Robotics and Remote Systems, Vol. 1 of 2, April, 1993, pp. 137-143. [Abstract]
  Download: pdf [304 KB] copyrighted

• Visual Tracking of a Moving Target by a Camera Mounted on a Robot: A Combination of Control and Vision
  N. Papanikolopoulos, P. Khosla, and T. Kanade
  IEEE Transactions on Robotics and Automation, Vol. 9, No. 1, February, 1993, pp. 14-35. [Abstract]
  Download: pdf [1479 KB] copyrighted

• Chimera 3.1: The Real-Time Operating System for Reconfigurable Sensor-Based Control Systems
  D.B. Stewart and P. Khosla
  Advanced Manipulators Laboratory, The Robotics Institute and Department of Electrical and Computer Engineering, Carnegie Mellon University, January, 1993.

• Integration of Real-Time Software Modules for Reconfigurable Sensor-Based Control Systems
  D.B. Stewart, R.A. Volpe, and P. Khosla
  International Symposium on Intelligent Robotics, January, 1993.
  Download: pdf [61 KB], ps.gz [51 KB], ps.z [73 KB] copyrighted

• Dynamic Sensor Placement Using Controlled Active Vision
  B. Nelson, N. Papanikolopoulos, and P. Khosla
  Servoing Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback, K. Hashimoto, ed., World Scientific Publishing Co. Pte. Ltd., 1993.

• Synthesis Methodology for Task Based Reconfiguration of Modular Manipulator Systems
  C. Paredis and P. Khosla
  Proc. of International Symposium on Robotics Research, 1993.
  Download: pdf [124 KB], ps.gz [101 KB] copyrighted

• Visual Servoing for Robotic Assembly
  B. Nelson, N.P. Papanikolopoulos, and P. Khosla
  Visual Servoing Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback, K. Hashimoto, ed., World Scientific Publishing, River Edge, NJ, 1993, pp. 139 - 164.
  Download: pdf [113 KB], ps.gz [141 KB] copyrighted

• Monocular 3-D Visual Tracking of a Moving Target by an Eye-in-Hand Robotic System
  N.P. Papanikolopoulos, B. Nelson, and P. Khosla
  Presented at the 31st Annual IEEE Conference on Deicision and Control (CDC '92), December, 1992.
  Download: pdf [742 KB] copyrighted

• The Chimera II Real-Time Operating System for Advanced Sensor-Based Control Applications
  D.B. Stewart, D.E. Schmitz, and P. Khosla
  IEEE Trans. on Systems, Man, and Cybernetics, Vol. 22, No. 6, December, 1992, pp. 1282-1295. [Abstract]
  Download: pdf [69 KB], ps.gz [53 KB] copyrighted

• Adaptive Control Techniques for Dynamic Visual Repositioning of Hand-Eye Robotic Systems
  N.P. Papanikolopoulos and P. Khosla
  Presented at the 1991 IEEE Workshop on Applications of Computer Vision, November, 1992. [Abstract]
  Download: pdf [570 KB] copyrighted

• An Iconic Programming Language for Sensor-Based Robots
  M. Gertz, D.B. Stewart, and P. Khosla
  SOAR Conference, August, 1992.
  Download: pdf [1147 KB], ps.gz [1569 KB] copyrighted

• Full 3-D Tracking Using the Controlled Active Vision Paradigm
  N. Papanikolopoulos, B. Nelson, and P. Khosla
  Presented at the 1992 IEEE International Symposium on Intelligent Control, August, 1992.
  Download: pdf [681 KB] copyrighted

• A Multi-Population Genetic Algorithm and Its Application to Design of Manipulators
  J. Kim and P. Khosla
  IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS 92), July, 1992.
  Download: pdf [779 KB] copyrighted

• Filament Winding Algorithms for Arbitrary Convex Mandrel Shapes
  J. Dolan, M. Gatenholm, P. Khosla, and S. Talukdar
  tech. report, Robotics Institute, Carnegie Mellon University, July, 1992.

• Hand-eye robotic visual servoing around moving objects using active deformable models
  P.A. Couvignou, N.P. Papanikolopoulos, and P. Khosla
  Presented at 1992 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '92), July, 1992.
  Download: pdf [1100 KB] copyrighted

• Real-Time Obstacle Avoidance Using Harmonic Potential Functions
  J. Kim and P. Khosla
  IEEE Transactions on Robotics and Automation, June, 1992. [Abstract]
  Download: pdf [550 KB] copyrighted

• Robotic Visual Servoing Around a Static Target: An Example of Controlled Active Vision
  N.P. Papanikolopoulos and P. Khosla
  Proceedings of the 1992 American Control Conference, June, 1992.
  Download: pdf [527 KB] copyrighted

• Motion Constraints from Contact Geometry: Representation and Analysis
  R. Mattikalli and P. Khosla
  Proc. 1992 IEEE International Conference on Robotics and Automation (ICRA '92), Vol. 3, May, 1992, pp. 2178-2185. [Abstract]
  Download: pdf [224 KB], ps.gz [85 KB] copyrighted

• Shared and Traded Telerobotic Visual Control
  N.P. Papanikolopoulos and P. Khosla
  Presented at the 1992 IEEE International Conference on Robotics and Automation (ICRA '92), May, 1992.
  Download: pdf [840 KB] copyrighted

• Increasing the Tracking Region of an Eye-in-Hand System Using Controlled Active Vision
  B. Nelson and P. Khosla
  IEEE International Conference on Control Application, 1992, pp. 1128-1133.
  Download: pdf [53 KB], ps.gz [66 KB] copyrighted

• Motion planning using medial axis
  Y. Xu, R.S. Mattikalli, and P. Khosla
  Proceedings of IFAC Workshop on Intelligent Manufacturing, 1992.

• Real-Time Scheduling of Sensor-Based Control Systems
  D.B. Stewart and P. Khosla
  Real-Time Programming, W. Halang and K. Ramamritham, ed., Pergamon Press Inc., 1992, pp. 139-144.
  Download: pdf [82 KB], ps.gz [77 KB] copyrighted

• Feature Based Robotic Visual Tracking of 3-D Translational Motion
  N.P. Papanikolopoulos and P. Khosla
  Presented at the 30th Annual IEEE Conference on Deicision and Control (CDC '91), December, 1991. [Abstract]
  Download: pdf [406 KB] copyrighted

• Exploiting Redundancy to Reduce Impact Force
  M. Gertz, J. Kim, and P. Khosla
  Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems, November, 1991.
  Download: pdf [49 KB], ps.gz [52 KB], ps.z [76 KB] copyrighted

• Using Control and Vision for Space Applications
  N.P. Papanikolopoulos and P. Khosla
  Presented at Third NASA Center for Intelligent Robotic Systems for Space Exploration Conference, November, 1991. [Abstract]
  Download: pdf [730 KB] copyrighted

• Generation of Partial Medial Axis for Disassembly Motion Planning
  Y. Xu, R. Mattikalli, and P. Khosla
  Proceedings of the1991 IEEE International Conference on Systems, Man, and Cybernetics. 'Decision Aiding for Complex Systems, Vol. 2, October, 1991, pp. 997 - 1003. [Abstract]
  Download: pdf [675 KB] copyrighted

• Two-Disk Motion Planning Strategy
  Y. Xu, R. Mattikalli, and P. Khosla
  Proceedings of the1991 IEEE International Conference on Systems, Man, and Cybernetics. 'Decision Aiding for Complex Systems, Vol. 2, October, 1991, pp. 991 - 996. [Abstract]
  Download: pdf [553 KB] copyrighted

• Real-Time Scheduling of Dynamically Reconfigurable Systems
  D.B. Stewart and P. Khosla
  IEEE International Conference on Systems Engineering, August, 1991, pp. 139-142.
  Download: pdf [25 KB], ps.gz [26 KB] copyrighted

• Adaptive Robotic Visual Tracking
  N. Papanikolopoulos, P. Khosla, and T. Kanade
  Proceedings of the 1991 American Control Conference, June, 1991. [Abstract]
  Download: pdf [498 KB] copyrighted

• An Approach for Mapping Kinematic Task Specifications into a Manipulator Design
  C. Paredis and P. Khosla
  Proc. of 5th International Conference on Advanced Robotics (ICAR '91), Vol. 1, June, 1991, pp. 556-561. [Abstract]
  Download: pdf [423 KB] copyrighted

• Path planning for mobile manipulators for multiple task execution
  W.F. Carriker, P. Khosla, and B. Krogh
  IEEE Transactions on Robotics and Automation, June, 1991, pp. 403 - 408. [Abstract]
  Download: pdf [578 KB] copyrighted

• Real-Time LQG Robotic Visual Tracking
  N.P. Papanikolopoulos and P. Khosla
  Presented at the 1991 European Robotics and Intelligent Systems Conference ( EURISCON '91), June, 1991. [Abstract]
  Download: pdf [252 KB] copyrighted

• Real-Time Scheduling of Sensor-Based Control Systems
  D.B. Stewart and P. Khosla
  IEEE Workshop on Real-Time Operating Systems and Software (RTOS '91), May, 1991, pp. 144 - 150.
  Download: pdf [26 KB], ps.gz [27 KB] copyrighted

• Vision and Control Techniques for Robotic Visual Tracking
  N. Papanikolopoulos, P. Khosla, and T. Kanade
  Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91), Vol. 1, April, 1991, pp. 857-864. [Abstract]
  Download: pdf [720 KB] copyrighted

• Implementation of Traded and Shared Control Strategies Using a Tactile Sensor
  H. Schneiderman and P. Khosla
  Robotics and Remote Systems (Proceedings of the 4th ANS Topical Meeting), February, 1991.

• Analysis of Restraints to Translational and Rotational Motion from the Geometry of Contact
  R. Mattikalli and P. Khosla
  Proc. ASME Winter Annual Meeting, Vol. DE-39, 1991, pp. 65-71.
  Download: pdf [147 KB], ps.gz [70 KB] copyrighted

• Manipulator Control with Superquadric Artificial Potential Functions: Theory and Experiments
  R. Volpe and P. Khosla
  IEEE Transactions on Systems, Man, and Cybernetics. Special Issue on Unmanned Vehicles and Intelligent Systems, Vol. 20, No. 6, November, 1990.
  Download: pdf [383 KB], ps.gz [274 KB] copyrighted

• Implementing Real-Time Robotic Systems Using CHIMERA II
  D.B. Stewart, D.E. Schmitz, and P. Khosla
  IEEE International Conference on Systems Engineering, August, 1990, pp. 252 - 257. [Abstract]
  Download: pdf [631 KB] copyrighted

• Subassembly identification and motion generation of assembly: a geometrical approach
  R. Mattikalli, P. Khosla, and Y. Xu
  Proceedings of IEEE International Conference on System Engineering, August, 1990, pp. 399-403. [Abstract]
  Download: pdf [542