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Publications, Alfred Rizzi

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

• Context Identification for Efficient Multiple-Model State Estimation
  S. Skaff, H. Choset, and A. Rizzi
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), No. 2, November, 2007, pp. 2435-2440. [Abstract]
  Download: pdf [279 KB] copyrighted

• Valet Parking Without a Valet
  D.C. Conner, H. Kress-Gazit, H. Choset, A. Rizzi, and G.J. Pappas
  Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), IEEE, San Diego, CA, October, 2007, pp. 572-577. [Abstract]
  Download: pdf [187 KB] copyrighted

• A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running
  J.W. Hurst, B. Morris, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [162 KB], ps.gz [128 KB] copyrighted

• Design and Philosophy of the BiMASC, a Highly Dynamic Biped
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [386 KB], ps.gz [928 KB] copyrighted

• Toward Legless Locomotion Control
  R. Balasubramanian, A. Rizzi, and M. Mason
  2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 5594 - 5599. [Abstract]
  Download: pdf [968 KB] copyrighted

• Gait Regulation and Feedback on a Robotic Climbing Hexapod
  G. Haynes and A. Rizzi
  Proceedings of Robotics: Science and Systems, August, 2006. [Abstract]
  Download: pdf [1359 KB] copyrighted

• Integrated Planning and Control for Convex-bodied Nonholonomic systems using Local Feedback Control Policies
  D.C. Conner, H. Choset, and A. Rizzi
  tech. report CMU-RI-TR-06-34, Robotics Institute, Carnegie Mellon University, August, 2006. [Abstract]
  Download: pdf [1774 KB] copyrighted

• Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback
  D.C. Conner, H. Choset, and A. Rizzi
  Proceedings of Robotics: Science and Systems II, MIT Press, Philadelphia, PA, August, 2006, pp. 57-64. [Abstract]
  Download: pdf [446 KB] copyrighted

• Motion Planning for Variable Inertia Mechanical Systems
  E.A. Shammas, H. Choset, and A. Rizzi
  In Proceedings of the International Workshop on the Algorithmic Foundations of Robotics, July, 2006.

• A Unified Approach to Gait Analysis and Generation for a General Class of Under-actuated Mechanical Systems
  E.A. Shammas, H. Choset, and A. Rizzi
  International Journal of Robotics Research, May, 2006.

• Gaits and Gait Transitions for Legged Robots
  G. Haynes and A. Rizzi
  Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006. [Abstract]
  Download: pdf [459 KB] copyrighted

• Geometric Gait Analysis and Generation for Two Classes of Under-actuated Mechanical Systems
  E.A. Shammas, H. Choset, and A. Rizzi
  International Journal of Robotics Research, May, 2006.

• Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems
  D.C. Conner, H. Choset, and A. Rizzi
  Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006. [Abstract]
  Download: pdf [150 KB] copyrighted

• Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints
  E.A. Shammas, H. Choset, and A. Rizzi
  In Proceedings of the International Conference on Robotics and Automation (ICRA '06), April, 2006. [Abstract]
  Download: pdf [663 KB] copyrighted

• Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces
  D.C. Conner, A.L. Greenfield, P. Atkar, A. Rizzi, and H. Choset
  IEEE Transactions on Automation Science and Engineering, Vol. 2, No. 4, October, 2005, pp. 381 - 392. [Abstract]
  Download: pdf [1368 KB] copyrighted

• Natural Gait Generation Techniques for Principally Kinematic Systems
  E.A. Shammas, H. Choset, and A. Rizzi
  Proceedings of Robotics: Science and Systems, June, 2005. [Abstract]
  Download: pdf [962 KB] copyrighted

• A Context-Based State Estimation Technique for Hybrid Systems
  S. Skaff, A. Rizzi, H. Choset, and P. Lin
  Proceedings of the 2005 IEEE International Conference on Robotics and Automation, IEEE, April, 2005, pp. 3935-3940. [Abstract]
  Download: pdf [202 KB] copyrighted

• Kinematic reduction and planning using symmetry for a variable inertia mechanical system
  R. Balasubramanian and A. Rizzi
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, October, 2004, pp. 3829 - 3834. [Abstract]
  Download: pdf [337 KB] copyrighted

• Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
  U. Saranli, A. Rizzi, and D.E. Koditschek
  International Journal of Robotics Research, Vol. 23, No. 9, September, 2004, pp. 903-918. [Abstract]
  Download: pdf [586 KB] copyrighted

• Physically Variable Compliance in Running
  J.W. Hurst and A. Rizzi
  CLAWAR, SPRINGER-VERLAG, www.springeronline.com, September, 2004. [Abstract]
  Download: pdf [118 KB], ps.gz [155 KB] copyrighted

• Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod Robot
  U. Saranli, A. Rizzi, and D.E. Koditschek
  Proceedings of the Sixth International Workshop on the Algorithmic Foundations of Robotics (WAFR '04), July, 2004, pp. 75-90. [Abstract]
  Download: pdf [295 KB] copyrighted

• An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  Proceedings of the 2004 International Conference on Robotics and Automation, Vol. 5, May, 2004, pp. 4662 - 4667. [Abstract]
  Download: pdf [758 KB] copyrighted

• An Actuator with Mechanically Adjustable Series Compliance
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  tech. report CMU-RI-TR-04-24, Robotics Institute, Carnegie Mellon University, April, 2004. [Abstract]
  Download: pdf [663 KB], ps.gz [856 KB] copyrighted

• Legless Locomotion: Models and Experimental Demonstration
  R. Balasubramanian, A. Rizzi, and M. Mason
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, April, 2004, pp. 1803 - 1808. [Abstract]
  Download: pdf [653 KB] copyrighted

• Legless Locomotion for Legged Robots
  R. Balasubramanian, A. Rizzi, and M. Mason
  tech. report CMU-RI-TR-04-05, Robotics Institute, Carnegie Mellon University, January, 2004. [Abstract]
  Download: pdf [973 KB] copyrighted

• Sequential Composition for Control of Underactuated Systems
  G.A. Kantor and A. Rizzi
  tech. report CMU-RI-TR-03-23, Robotics Institute, Carnegie Mellon University, December, 2003. [Abstract]
  Download: pdf [381 KB], ps.gz [853 KB] copyrighted

• Construction and Automated Deployment of Local Potential Functions for Global Robot Control and Navigation
  D.C. Conner, A. Rizzi, and H. Choset
  tech. report CMU-RI-TR-03-22, Robotics Institute, Carnegie Mellon University, November, 2003. [Abstract]
  Download: pdf [4316 KB], ps.gz [1904 KB] copyrighted

• Composition of local potential functions for global robot control and navigation
  D.C. Conner, A. Rizzi, and H. Choset
  Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), IEEE, Vol. 4, October, 2003, pp. 3546- 3551. [Abstract]
  Download: pdf [567 KB] copyrighted

• Inertial navigation and visual line following for a dynamical hexapod robot
  S. Skaff, G.A. Kantor, D. Maiwand, and A. Rizzi
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 2, October, 2003, pp. 1808-1813. [Abstract]
  Download: pdf [478 KB] copyrighted

• Legless Locomotion for Legged Robots
  R. Balasubramanian, A. Rizzi, and M. Mason
  Proceedings of the International Conference on Robotics and Intelligent Systems, Vol. 1, October, 2003, pp. 880 - 885. [Abstract]
  Download: pdf [473 KB] copyrighted

• Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve
  P. Atkar, H. Choset, and A. Rizzi
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 4, October, 2003, pp. 3581 - 3587. [Abstract]
  Download: pdf [562 KB] copyrighted

• Progress Towards a Clinically Useful Sonic Flashlight
  G.D. Stetten, D.M. Shelton, W. Chang, R.J. Tamburo, V. Chib, C.A. Cois, R. Hollis, A. Rizzi, L. Lobes, and D. Schwartzman
  Biomedical Imaging Research Opportunities Workshop, January, 2003. [Abstract]
  Download: pdf [15 KB] copyrighted

• Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers
  D.C. Conner, A. Rizzi, and H. Choset
  Experimental Robotics VIII (proceedings of ISER '02), Springer-Verlag, Berlin, Heidelberg, 2003, pp. 136-145. [Abstract]

• Deposition Modeling for Paint Application on Surfaces Embedded in R^3
  D.C. Conner, P. Atkar, A. Rizzi, and H. Choset
  tech. report CMU-RI-TR-02-08, Robotics Institute, Carnegie Mellon University, October, 2002. [Abstract]
  Download: pdf [2036 KB] copyrighted

• Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning
  D.C. Conner, P. Atkar, A. Rizzi, and H. Choset
  Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002. [Abstract]
  Download: pdf [502 KB] copyrighted

• A high-performance network infrastructure and protocols for distributed automation
  S. Kume and A. Rizzi
  Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), Vol. 3, May, 2001, pp. 3121 - 3126. [Abstract]
  Download: pdf [516 KB] copyrighted

• Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R^3
  P. Atkar, H. Choset, A. Rizzi, and E. Acar
  Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), May, 2001. [Abstract]
  Download: pdf [381 KB] copyrighted

• Sensor Based Planning for Rod Shaped Robots in Three Dimensions: Piece-wise Retracts of R^3 x S^2
  unknown, H. Choset, and A. Rizzi
  Proceedings of the 2001 IEEE International Conference on Robotics & Automation (ICRA '01), May, 2001.
  Download: pdf [712 KB] copyrighted

• Distributed Coverage of Rectilinear Environments
  Z. Butler, A. Rizzi, and R. Hollis
  Proc. of the Workshop on the Algorithmic Foundations of Robotics, A. K. Peters, January, 2001.
  Download: pdf [321 KB], ps.gz [287 KB] copyrighted

• Force-based Interaction for Distributed Precision Assembly
  R. DeLuca, A. Rizzi, and R. Hollis
  Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, January, 2001.
  Download: pdf [373 KB], ps.gz [636 KB] copyrighted

• A precision manipulator module for assembly in a minifactory environment
  H. Brown, P. Muir, A. Rizzi, M.C. Sensi, and R. Hollis
  Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), Vol. 2, 2001, pp. 1030 - 1035. [Abstract]
  Download: pdf [541 KB] copyrighted

• Simulation and Experimental Evaluation of Complete Sensor-based Coverage in Rectilinear Environments
  Z. Butler, A. Rizzi, and R. Hollis
  Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000.
  Download: pdf [798 KB] copyrighted

• Cooperative Coverage of Rectilinear Environments
  Z. Butler, A. Rizzi, and R. Hollis
  IEEE International Conference on Robotics and Automation 2000, Vol. 3, April, 2000, pp. 2722 - 2727. [Abstract]
  Download: pdf [260 KB], ps.gz [257 KB] copyrighted

• Exact Cellular Decompositions in Terms of Critical Points of Morse Functions
  H. Choset, E. Acar, A. Rizzi, and J. Luntz
  Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 3, April, 2000, pp. 2270 - 2277. [Abstract]
  Download: pdf [227 KB], ps.gz [94 KB] copyrighted

• Optical Coordination Sensor for Precision Cooperating Robots
  W. Ma, A. Rizzi, and R. Hollis
  IEEE International Conference on Robotics and Automation 2000, Vol. 2, April, 2000, pp. 1621 - 1626. [Abstract]
  Download: pdf [465 KB], ps.gz [393 KB] copyrighted

• Robust and Efficient Motion Planning for a Planar Robot Using Hybrid Control
  A. Quaid and A. Rizzi
  IEEE International Conference on Robotics and Automation 2000, Vol. 4, April, 2000, pp. 4021 - 4026. [Abstract]
  Download: pdf [246 KB], ps.gz [227 KB] copyrighted

• Visually Guided Coordination for Distributed Precision Assembly
  M. Chen, S. Kume, A. Rizzi, and R. Hollis
  IEEE International Conference on Robotics and Automation 2000, Vol. 2, April, 2000, pp. 1651 - 1656. [Abstract]
  Download: pdf [424 KB], ps.gz [386 KB] copyrighted

• Contact Sensor-based Coverage of Rectilinear Environments
  Z. Butler, A. Rizzi, and R. Hollis
  IEEE Int'l Symposium on Intelligent Control, September, 1999, pp. 266 - 271. [Abstract]
  Download: pdf [202 KB], ps.gz [140 KB] copyrighted

• Fluorescent Dye Based Optical Position Sensing for Planar Linear Motors
  G. Fries, A. Rizzi, and R. Hollis
  IEEE International Conference on Robotics and Automation, Vol. 2, May, 1999, pp. 1614 - 1619. [Abstract]
  Download: pdf [375 KB], ps.gz [527 KB] copyrighted

• Programming in the Architecture for Agile Assembly
  J. Gowdy and A. Rizzi
  IEEE International Conference on Robotics and Automation, Vol. 4, May, 1999, pp. 3103 - 3108. [Abstract]
  Download: pdf [187 KB], ps.gz [86 KB] copyrighted

• Hybrid Control as a Method for Robot Motion Programming
  A. Rizzi
  IEEE Int'l. Conf. on Robotics and Automation, Vol. 1, May, 1998, pp. 832 - 837. [Abstract]
  Download: pdf [154 KB], ps.gz [59 KB] copyrighted

• Integrated Precision 3-DOF Position Sensor for Planar Linear Motors
  Z. Butler, A. Rizzi, and R. Hollis
  Proc. of IEEE Int'l. Conf. on Robotics and Automation, Vol. 4, May, 1998, pp. 3109-3114. [Abstract]
  Download: pdf [284 KB], ps.gz [492 KB] copyrighted

• Minifactory: A Precision Assembly System that Adapts to the Product Life Cycle
  P. Muir, A. Rizzi, and J. Gowdy
  SPIE Symposium on Intelligent Systems and Advanced Manufacturing, October, 1997.
  Download: pdf [89 KB], ps.gz [110 KB] copyrighted

• Opportunities for Increased Intelligence and Autonomy in Robotic Systems for Manufacturing
  A. Rizzi and R. Hollis
  Robotics Research, the Eighth International Symposium of Robotics Research, Springer-Verlag, October, 1997, pp. 141 - 151.
  Download: pdf [236 KB], ps.gz [169 KB] copyrighted

• Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
  H. Choset, I. Konukseven, and A. Rizzi
  Proceedings of ICAR '97, July, 1997, pp. 333 - 338. [Abstract]
  Download: pdf [262 KB], ps.gz [207 KB] copyrighted

• Agile Assembly Architecture: An Agent-Based Approach to Modular Precision Assembly Systems
  A. Rizzi, J. Gowdy, and R. Hollis
  IEEE Int'l. Conf. on Robotics and Automation, Vol. 2, April, 1997, pp. 1511 - 1516. [Abstract]
  Download: pdf [235 KB], ps.gz [150 KB] copyrighted

• Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
  H. Choset, I. Konukseven, and A. Rizzi
  Proceedings of ICAR '97, 1997.
  Download: pdf [254 KB], ps.gz [207 KB] copyrighted

• Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph
  H. Choset, K. Nagatani, and A. Rizzi
  SPIE Mobile Robotics, 1997.
  Download: pdf [298 KB], ps.gz [267 KB] copyrighted