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Publications, Illah Nourbakhsh

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

• Robot Diaries: Broadening Participation in the Computer Science Pipeline through Social Technical Exploration
  E. Hamner, T. Lauwers, D. Bernstein, I. Nourbakhsh, and C.F. DiSalvo
  AAAI Spring Symposium on Using AI to Motivate Greater Participation in Computer Science, March, 2008. [Abstract]
  Download: pdf [293 KB] copyrighted

• CMUcam3: An Open Programmable Embedded Vision Sensor
  A. Rowe, A.G. Goode, D. Goel, and I. Nourbakhsh
  tech. report CMU-RI-TR-07-13, Robotics Institute, Carnegie Mellon University, May, 2007. [Abstract]
  Download: pdf [275 KB] copyrighted

• TeRK: A Flexible Tool for Science and Technology Education
  I. Nourbakhsh, E. Hamner, T. Lauwers, C.F. DiSalvo, and D. Bernstein
  Proceedings of AAAI Spring Symposium on Robots and Robot Venues: Resources for AI Education, March, 2007. [Abstract]
  Download: pdf [3417 KB] copyrighted

• A Preliminary Study of Peer-to-Peer Human-Robot Interaction
  T.W. Fong, J. Scholtz, J. Shah, L. Flueckiger, C. Kunz, D. Lees, J. Schreiner, M. Siegel, L. Hiatt, I. Nourbakhsh, R. Simmons, R. Ambrose, R. Burridge, B. Antonishek, M. Bugajska, A. Schultz, and J.G. Trafton
  International Conference on Systems, Man, and Cybernetics, IEEE, October, 2006. [Abstract]
  Download: pdf [737 KB] copyrighted

• A Roadmap for Technology Literacy and a Vehicle for Getting There: Educational Robotics and the TeRK Project
  I. Nourbakhsh, E. Hamner, T. Lauwers, D. Bernstein, and C.F. DiSalvo
  Proceedings of IEEE RO-MAN 2006, September, 2006. [Abstract]
  Download: pdf [171 KB] copyrighted

• Cognitive Evaluation of Human-Robot Systems: A Method for Analyzing Cognitive Change in Human-Robot Systems
  K. Stubbs, D. Bernstein, K. Crowley, and I. Nourbakhsh
  Proceedings of the 15th International Symposium on Robot and Human Interactive Communication (RO-MAN 06), IEEE, September, 2006, pp. 59-65. [Abstract]
  Download: pdf [326 KB] copyrighted

• A Constraint Optimization Framework for Fractured Robot Teams
  M. Koes, K. Sycara, and I. Nourbakhsh
  Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), May, 2006. [Abstract]
  Download: pdf [106 KB] copyrighted

• Constraint Optimization Coordination Architecture for Search and Rescue Robotics
  M. Koes, I. Nourbakhsh, and K. Sycara
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2006, May, 2006, pp. 3977-3982. [Abstract]
  Download: pdf [208 KB] copyrighted

• Mobile Robot Programming in Education
  J. Lalonde, C. Bartley, and I. Nourbakhsh
  International Conference on Robotics and Automation (ICRA), May, 2006, pp. 345 - 350. [Abstract]
  Download: pdf [144 KB] copyrighted

• Best Laid Plans of Robots and Men
  M. Koes, K. Sycara, and I. Nourbakhsh
  AAAI Spring Symposium on Distributed Plan and Schedule Management, AAAI Press, Menlo Park, CA, March, 2006, pp. 49-56. [Abstract]
  Download: pdf [432 KB] copyrighted

• The Peer-to-Peer Human-Robot Interaction Project
  T.W. Fong, I. Nourbakhsh, R. Ambrose, R. Simmons, A. Schultz, and J. Scholtz
  AIAA Space 2005, September, 2005. [Abstract]
  Download: pdf [642 KB] copyrighted

• Long-Term Human-Robot Interaction: The Personal Exploration Rover and Museum Docents
  K. Stubbs, D. Bernstein, K. Crowley, and I. Nourbakhsh
  Proceedings of the 12th International Conference on Artificial Intelligence in Education (AIED '05), July, 2005, pp. 621-628. [Abstract]
  Download: pdf [176 KB] copyrighted

• Heterogeneous Multirobot Coordination with Spatial and Temporal Constraints
  M. Koes, I. Nourbakhsh, and K. Sycara
  Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI), AAAI Press, June, 2005, pp. 1292-1297. [Abstract]
  Download: pdf [424 KB] copyrighted

• Educational Results of the Personal Exploration Rover Museum Exhibit
  I. Nourbakhsh, E. Hamner, B. Dunlavey, D. Bernstein, and K. Crowley
  Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA '05), April, 2005, pp. 4278 - 4283. [Abstract]
  Download: pdf [285 KB] copyrighted

• The Design of a Highly Reliable Robot for Unmediated Museum Interaction
  I. Nourbakhsh, E. Hamner, E. Porter, B. Dunlavey, E.M. Ayoob, T. Hsiu, M. Lotter, and S. Shelly
  Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA '05), April, 2005, pp. 3225 - 3231. [Abstract]
  Download: pdf [406 KB] copyrighted

• Interaction Challenges in Human-Robot Space Exploration
  T.W. Fong and I. Nourbakhsh
  Interactions, Vol. 12, No. 2, March, 2005, pp. 42-45. [Abstract]
  Download: pdf [557 KB] copyrighted

• Up Close and Personal from Mars
  E. Hamner, M. Lotter, I. Nourbakhsh, and S. Shelly
  interactions, Vol. 12, No. 2, March, 2005, pp. 30 - 36.
  Download: pdf [650 KB] copyrighted

• Human-Robot Teaming for Search and Rescue
  I. Nourbakhsh, K. Sycara, M. Koes, M. Yong, M. Lewis, and S. Burion
  IEEE Pervasive Computing: Mobile and Ubiquitous Systems, January, 2005, pp. 72-78. [Abstract]
  Download: pdf [1458 KB] copyrighted

• The Personal Exploration Rover: The Ground-up Design, Deployment and Educational Evaluation of an Educational Robot for Unmediated Informal Learning Sites
  I. Nourbakhsh, E. Hamner, D. Bernstein, K. Crowley, E. Porter, T. Hsiu, B. Dunlavey, E.M. Ayoob, M. Lotter, S. Shelly, A. Parikh, and D. Clancy
  tech. report CMU-RI-TR-04-38, Robotics Institute, Carnegie Mellon University, December, 2004. [Abstract]
  Download: pdf [755 KB] copyrighted

• Peer-to-peer human-robot interaction for space exploration
  T.W. Fong and I. Nourbakhsh
  AAAI Fall Symposium: The Intersection of Cognitive Science and Robotics: From interfaces to Intelligence, AAAI, October, 2004. [Abstract]
  Download: pdf [46 KB] copyrighted

• An Analysis of the Intelligent Robotics Group's Experience with the Mars Exploration Rover Mission
  K. Stubbs and I. Nourbakhsh
  tech. report CMU-RI-TR-04-45, Robotics Institute, Carnegie Mellon University, September, 2004. [Abstract]
  Download: pdf [492 KB] copyrighted

• Communication Efficiency in Multi-agent Systems
  M. Koes, I. Nourbakhsh, and K. Sycara
  Proceedings of ICRA 2004, Vol. 3, May, 2004, pp. 2129 - 2134. [Abstract]
  Download: pdf [469 KB] copyrighted

• Formal measures of learning in a secondary school mobile robotics course
  I. Nourbakhsh, E. Hamner, K. Crowley, and K. Wilkinson
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 2, April, 2004, pp. 1831 - 1836. [Abstract]
  Download: pdf [542 KB] copyrighted

• The educational impact of the Robotic Autonomy mobile robotics course
  I. Nourbakhsh, K. Crowley, K. Wilkinson, and E. Hamner
  tech. report CMU-RI-TR-03-29, Robotics Institute, Carnegie Mellon University, August, 2003. [Abstract]
  Download: pdf [1024 KB] copyrighted

• The Personal Rover Project: The comprehensive design of a domestic personal robot
  E. Hamner, R. Gockley, E. Porter, and I. Nourbakhsh
  Robotics and Autonomous Systems: Special Issue on Socially Interactive Robots, Vol. 42, No. 3 - 4, March, 2003, pp. 245 - 258. [Abstract]
  Download: pdf [834 KB] copyrighted

• A survey of socially interactive robots
  T.W. Fong, I. Nourbakhsh, and K. Dautenhahn
  Robotics and Autonomous Systems, 2003. [Abstract]
  Download: pdf [510 KB] copyrighted

• A Survey of Socially Interactive Robots: Concepts, Design, and Applications
  T.W. Fong, I. Nourbakhsh, and K. Dautenhahn
  tech. report CMU-RI-TR-02-29, Robotics Institute, Carnegie Mellon University, December, 2002. [Abstract]
  Download: pdf [8953 KB] copyrighted

• The Role of Expressiveness and Attention in Human-Robot Interaction
  A. Bruce, I. Nourbakhsh, and R. Simmons
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA' 02), May, 2002. [Abstract]
  Download: pdf [183 KB] copyrighted

• Rapid Prototyping of Small Robots
  G. Reshko, M. Mason, and I. Nourbakhsh
  tech. report CMU-RI-TR-02-11, Robotics Institute, Carnegie Mellon University, March, 2002. [Abstract]
  Download: pdf [454 KB] copyrighted

• A Low Cost Embedded Color Vision System
  A. Rowe, C. Rosenberg, and I. Nourbakhsh
  Proceedings of IROS 2002, 2002. [Abstract]
  Download: pdf [472 KB] copyrighted

• The Personal Rover
  E. Hamner, R. Gockley, E. Porter, and I. Nourbakhsh
  2002 AAAI Conference Workshop Proceedings, 2002. [Abstract]
  Download: pdf [1050 KB] copyrighted

• The Personal Rover Project
  I. Nourbakhsh
  2002 IROS Workshop on Social Robotics, 2002. [Abstract]
  Download: pdf [387 KB] copyrighted

• Narrative-level visual interpretation of human motion for human-robot interaction
  A. Hilti, I. Nourbakhsh, B. Jensen, and R. Siegwart
  Proceedings of IROS 2001, November, 2001. [Abstract]
  Download: pdf [162 KB] copyrighted

• Simultaneous localization and map-building: a global topological model with local metric maps
  NicolaTomatis, I. Nourbakhsh, and R. Siegwart
  Proceedings of IROS 2001, November, 2001. [Abstract]
  Download: pdf [194 KB] copyrighted

• A Simple Low Cost Color Vision System
  A. Rowe, C. Rosenberg, and I. Nourbakhsh
  Tech sketch paper presented at CVPR 2001, October, 2001. [Abstract]
  Download: pdf [120 KB] copyrighted

• Combining Topological and Metric: A Natural Integration for Simultaneous Localization and Map Building
  N. Tomatis, I. Nourbakhsh, and R. Siegwart
  Proceedings of the Fourth European Workshop on Advanced Mobile Robots (Eurobot 2001), September, 2001. [Abstract]
  Download: pdf [244 KB] copyrighted

• A hybrid approach for robust and precise mobile robot navigation with compact environment modeling
  N. Tomatis, I. Nourbakhsh, K. Arras, and R. Siegwart
  Proceedings of ICRA 2001, May, 2001. [Abstract]
  Download: pdf [173 KB] copyrighted

• Deriving and matching image fingerprint sequences for mobile robot localization
  P. Lamon, I. Nourbakhsh, B. Jensen, and R. Siegwart
  Proceedings of ICRA 2001, May, 2001. [Abstract]
  Download: pdf [3703 KB] copyrighted

• The history of the Mobot museum robot series: An Evolutionary Study
  T. Willeke, C. Kunz, and I. Nourbakhsh
  Proceedings of FLAIRS 2001, May, 2001. [Abstract]
  Download: pdf [171 KB], ps.gz [295 KB] copyrighted

• Learning State Grounding for Optimal Visual Servocontrol of Dynamic Manipulation
  D. Nikovski and I. Nourbakhsh
  Proceedings of the AAAI Spring Symposium on State Grounding and Abstraction, March, 2001.
  Download: pdf [118 KB], ps.gz [97 KB] copyrighted

• The Role of Expressiveness and Attention in Human-Robot Interaction
  A. Bruce, I. Nourbakhsh, and R. Simmons
  Proceedings, 2001 AAAI Fall Symposium, 2001. [Abstract]
  Download: pdf [45 KB] copyrighted

• Path Planning for the Cye Robot
  P. Batavia and I. Nourbakhsh
  Proceedings of IROS 2000, Vol. 1, October, 2000, pp. 15 - 20. [Abstract]
  Download: pdf [79 KB] copyrighted

• Material Classification by Drilling
  D. LaBelle, J. Bares, and I. Nourbakhsh
  Proceedings of the 17th International Symposium on Automation and Robotics in Construction, September, 2000.
  Download: pdf [137 KB] copyrighted

• Appearance-Based Place Recognition for Topological Localization
  I. Ulrich and I. Nourbakhsh
  Proceedings of ICRA 2000, Vol. 2, April, 2000, pp. 1023 - 1029. [Abstract]
  Download: pdf [214 KB], ps.gz [2068 KB] copyrighted

• Robot Improv: Using drama to create believable agents
  A. Bruce, J. Knight, S. Listopad, B. Magerko, and I. Nourbakhsh
  Proceedings of ICRA 2000, Vol. 4, April, 2000, pp. 4002 - 4008. [Abstract]
  Download: pdf [209 KB] copyrighted

• Firewire Untethered: High-quality images for notebook computers
  I. Ulrich and I. Nourbakhsh
  Advanced Imaging, January, 2000.
  Download: pdf [2446 KB] copyrighted

• Appearance-Based Obstacle Detection with Monocular Color Vision
  I. Ulrich and I. Nourbakhsh
  Proceedings of AAAI 2000, 2000.
  Download: pdf [1852 KB] copyrighted

• Insect Telepresence: Using robotic tele-embodiment to bring insects face-to-face with humans
  S. All and I. Nourbakhsh
  Autonomous Robots, special issue on Personal Robotics, 2000.
  Download: pdf [5073 KB] copyrighted

• Learning Probabilistic Models for Decision-Theoretic Navigation of Mobile Robots
  D. Nikovski and I. Nourbakhsh
  Proceedings of the International Conference on Machine Learning 2000, 2000.
  Download: pdf [154 KB], ps.gz [52 KB] copyrighted

• Property Mapping: A simple technique for mobile robot programming
  I. Nourbakhsh
  Proceedings of AAAI 2000, 2000.
  Download: pdf [38 KB], ps.gz [111 KB] copyrighted

• Robotics and education in the classroom and in the museum: On the study of robots, and robots for study
  I. Nourbakhsh
  Proceedings, Workshop for Personal Robotics for Education. IEEE ICRA 2000, 2000.
  Download: pdf [2242 KB] copyrighted

• Learning discrete Bayesian models for autonomous agent navigation
  D. Nikovski and I. Nourbakhsh
  Proceedings of IEEE Conference on Computational Intelligence in Robotics and Automation (CIRA '99), November, 1999, pp. 137 - 143. [Abstract]
  Download: pdf [155 KB], ps.gz [49 KB] copyrighted

• An Affective Mobile Educator with a Full-time Job
  I. Nourbakhsh, J. Bobenage, S. Grange, R. Lutz, R. Meyer, and A. Soto
  Artificial Intelligence, Vol. 114, No. 1 - 2, October, 1999, pp. 95 - 124.
  Download: pdf [280 KB] copyrighted

• Topological Localization by Training a Vision-based Transition Detector
  D. Radhakrishnan and I. Nourbakhsh
  Proceedings of IROS 1999, Vol. 1, October, 1999, pp. 468 - 473. [Abstract]
  Download: pdf [1327 KB] copyrighted

• Automatic Mapping of Dynamic Office Environments
  C. Kunz, T. Willeke, and I. Nourbakhsh
  Autonomous Robots Journal, Vol. 7, No. 2, February, 1999.
  Download: pdf [55 KB] copyrighted

• A Scenario for Planning Visual Navigation of a Mobile Robot
  A. Soto and I. Nourbakhsh
  American Association for Artificial Intelligence (AAAI), 1998 Fall Symposium Series, October, 1998. [Abstract]
  Download: pdf [17 KB] copyrighted

• Playing the Numbers: Using ACD Statistics for Workforce Management
  O. Matan and I. Nourbakhsh
  Telemarketing and Call Center Solutions, March, 1998.
  Download: pdf [139 KB] copyrighted

• Robotics' Little Instruction Book
  S. Desiano and I. Nourbakhsh
  In working notes, 1998 AAAI Spring Symposium on Integrating Robotics Research, AAAI Press, Menlo Park, California, March, 1998.
  Download: pdf [130 KB], ps.gz [53 KB] copyrighted

• Chapter 3
  I. Nourbakhsh
  Artificial Intelligence and Mobile Robots, David Kortenkamp, R. Peter Bonasso, and Robin Murphy, ed., AAAI Press/ The MIT Press, 1998.

• Coming to Terms with Robotics
  S. Desiano and I. Nourbakhsh
  Proceedings of AAAI 1998 Spring Symposium - Integrating Robotic Research: Taking the Next Leap, 1998.

• NaviGates: A Benchmark for Indoor Navigation
  R. Knotts, I. Nourbakhsh, and R. Morris
  Proceedings, Third International Conference and Exposition on Robotics for Challenging Environments., 1998.
  Download: pdf [45 KB] copyrighted

• Using Abstraction to Interleave Planning and Execution
  I. Nourbakhsh
  Proceedings, Third Biannual World Automation Congress (WAC '98), 1998.
  Download: pdf [57 KB] copyrighted

• Mobile Robot Obstacle Avoidance via Depth from Focus
  I. Nourbakhsh, D. Andre, C. Tomasi, and M. Genesereth
  Robotics and Autonomous Systems, Vol. 22, June, 1997, pp. 151-158. [Abstract]
  Download: pdf [169 KB] copyrighted

• Automatic Mapping of Dynamic Office Environments
  C. Kunz, T. Willeke, and I. Nourbakhsh
  IEEE International Conference on Robotics and Automation, Vol. 2, April, 1997, pp. 1681-1687. [Abstract]
  Download: pdf [571 KB] copyrighted

• A Hybrid Human-Computer Autonomous Vehicle Architecture
  M. Bayouth, I. Nourbakhsh, and C. Thorpe
  Third ECPD International Conference on Advanced Robotics, Intelligent Automation and Control, 1997.
  Download: pdf [56 KB] copyrighted

• Interleaving Planning and Execution for Autonomous Robots
  I. Nourbakhsh
  Kluwer Academic Publishers, 1997.

• The 1996 AAAI Mobile Robot Competition and Exhibition
  D. Kortenkamp, I. Nourbakhsh, and D. Hinkle
  AI Magazine, Vol. 18, No. 2, 1997.

• Obstacle avoidance via depth from focus
  I. Nourbakhsh, D. Andre, C. Tomasi, and M. Genesereth
  Proceedings of the ARPA Image Understanding Workshop, February, 1996, pp. 1339 - 1344.
  Download: pdf [134 KB], ps.gz [194 KB] copyrighted

• A Sighted Robot
  I. Nourbakhsh
  The Robot Practitioner, Vol. 2, No. 1, 1996.

• Assumptive Planning and Execution: a Simple, Working Robot Architecture
  I. Nourbakhsh and M. Genesereth
  Autonomous Robots Journal, Vol. 3, No. 1, 1996, pp. 49-67.

• Dervish: An Office-Navigating Robot
  I. Nourbakhsh, R. Powers, and S. Birchfield
  AI Magazine, Vol. 16, No. 2, 1995.

• The Sonars of Dervish
  I. Nourbakhsh
  The Robot Practitioner, Vol. 1, No. 4, 1995.

• The Real-World Navigator
  M. Balabanovic, C. Becker, S. Morse, and I. Nourbakhsh
  Conference on Intelligent Robots for Factory, Field, Service, and Space, 1994.

• The Winning Robots from the 1993 Robot Competition
  I. Nourbakhsh, S. Morse, C. Becker, M. Balabanovic, E. Gat, R. Simmons, S. Goodridge, H. Potlapalli, D. Hinkle, K. Jung, and D.V. Vactor
  AI Magazine, Vol. 14, No. 4, 1993.

• Time-Saving Tips for Problem-Solving with Incomplete Information
  M. Genesereth and I. Nourbakhsh
  Proceedings of the Eleventh National Conference on Artificial Intelligence, 1993.

• Vagabond: A Demonstration of Autonomous, Robust Outdoor Navigation
  B. Dugan and I. Nourbakhsh
  IEEE Robotics and Automation Video Proceedings, 1993.

• Methods and Algorithms for Statistical Analysis of Protein Sequences
  V. Brendel, P. Bucher, I. Nourbakhsh, E. Blaisdell, and S. Karlin
  Proceedings of the National Academy of Sciences of the United States of America, Vol. 89, No. 6, 1992.