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Publications, Sanjiv Singh

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

• Decentralized Mapping of Robot-Aided Sensor Networks
  J. Djugash, S. Singh, and B.P. Grocholsky
  IEEE International Conference on Robotics and Automation, May, 2008. [Abstract]
  Download: pdf [280 KB] copyrighted

• Flying Fast and Low Among Obstacles: Methodology and Experiments
  S. Scherer, S. Singh, L.J. Chamberlain, and M. Elgersma
  The International Journal of Robotics Research, Vol. 27, No. 5, May, 2008, pp. 549-574. [Abstract]
  Download: pdf [1119 KB] copyrighted

• Tracking a Moving Target in Cluttered Environments with Ranging Radios
  G. Hollinger, J. Djugash, and S. Singh
  IEEE International Conference on Robotics and Automation, May, 2008. [Abstract]
  Download: pdf [349 KB] copyrighted

• Tracking a Moving Target in Cluttered Environments with Ranging Radios: Extended Results
  G. Hollinger, J. Djugash, and S. Singh
  tech. report CMU-RI-TR-08-07, Robotics Institute, Carnegie Mellon University, February, 2008. [Abstract]
  Download: pdf [632 KB] copyrighted

• Coordinated Search in Cluttered Environments Using Range from Multiple Robots
  G. Hollinger, J. Djugash, and S. Singh
  Sixth International Conference on Field and Service Robotics, July, 2007. [Abstract]
  Download: pdf [402 KB] copyrighted

• Human-Robot Teams for Large-Scale Assembly
  R. Simmons, S. Singh, F. Heger, L.M. Hiatt, S.C. Koterba, N. Melchior, and B.P. Sellner
  Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007. [Abstract]
  Download: pdf [411 KB] copyrighted

• Flying Fast and Low Among Obstacles
  S. Scherer, S. Singh, L.J. Chamberlain, and S. Saripalli
  Proceedings International Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [685 KB] copyrighted

• Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots
  G. Hollinger, A. Kehagias, and S. Singh
  IEEE International Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [264 KB] copyrighted

• Parrots: A Range Measuring Sensor Network
  W. Zhang, J. Djugash, and S. Singh
  tech. report CMU-RI-TR-06-05, Robotics Institute, Carnegie Mellon University, March, 2007. [Abstract]
  Download: pdf [371 KB] copyrighted

• Learning Obstacle Avoidance Parameters from Operator Behavior
  B. Hamner, S. Singh, and S. Scherer
  Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 11/12, December, 2006, pp. 1037-1058. [Abstract]
  Download: pdf [1812 KB] copyrighted

• Learning to Drive Among Obstacles
  B. Hamner, S. Scherer, and S. Singh
  2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 2663 - 2669. [Abstract]
  Download: pdf [318 KB] copyrighted

• Sliding Autonomy for Complex Coordinated Multi-Robot Tasks: Analysis & Experiments
  F. Heger and S. Singh
  In Proceedings, Robotics: Systems and Science, August, 2006. [Abstract]
  Download: pdf [1208 KB] copyrighted

• Coordinated Multi-Agent Teams and Sliding Autonomy for Large-Scale Assembly
  B.P. Sellner, F. Heger, L. Hiatt, R. Simmons, and S. Singh
  Proceedings of the IEEE - Special Issue on Multi-Robot Systems, Vol. 94, No. 7, July, 2006, pp. 1425 - 1444. [Abstract]
  Download: pdf [1022 KB] copyrighted

• Long-term motion estimation from images
  D. Strelow and S. Singh
  In Proceedings, International Symposium on Experimental Robotics, July, 2006. [Abstract]
  Download: pdf [1441 KB] copyrighted

• Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots
  E. Liao, G. Hollinger, J. Djugash, and S. Singh
  The 8th International Symposium on Distributed Autonomous Robotic Systems, June, 2006, pp. 125-134. [Abstract]
  Download: pdf [222 KB] copyrighted

• Range-Only SLAM for Robots Operating Cooperatively with Sensor Networks
  J. Djugash, S. Singh, G.A. Kantor, and W. Zhang
  IEEE International Conference on Robotics and Automation, May, 2006, pp. 2078 - 2084. [Abstract]
  Download: pdf [272 KB] copyrighted

• Range-only SLAM with Interpolated Range Data
  A. Kehagias, J. Djugash, and S. Singh
  tech. report CMU-RI-TR-06-26, Robotics Institute, Carnegie Mellon University, May, 2006. [Abstract]
  Download: pdf [496 KB] copyrighted

• Attaining Situational Awareness for Sliding Autonomy
  B.P. Sellner, L.M. Hiatt, R. Simmons, and S. Singh
  Proceedings of HRI 2006, March, 2006. [Abstract]
  Download: pdf [522 KB] copyrighted

• Results in Sliding Autonomy for Multi-robot Spatial Assembly
  F. Heger, L. Hiatt, B.P. Sellner, R. Simmons, and S. Singh
  Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [1724 KB] copyrighted

• Further Results with Localization and Mapping using Range from Radio
  J. Djugash, S. Singh, and P.I. Corke
  International Conference on Field & Service Robotics (FSR '05), July, 2005. [Abstract]
  Download: pdf [500 KB] copyrighted

• Results in Combined Route Traversal and Collision Avoidance
  unknown, B. Hamner, S. Singh, and M. Hwangbo
  International Conference on Field & Service Robotics (FSR '05), July, 2005. [Abstract]
  Download: pdf [385 KB] copyrighted

• Bearings based robot homing with robust landmark matching and limited horizon view
  I. Kirigin and S. Singh
  tech. report CMU-RI-TR-05-02, Robotics Institute, Carnegie Mellon University, January, 2005. [Abstract]
  Download: pdf [377 KB] copyrighted

• User Modelling for Principled Sliding Autonomy in Human-Robot Teams
  B.P. Sellner, R. Simmons, and S. Singh
  Proceedings of the NRL Multirobot Workshop 2005, 2005. [Abstract]
  Download: pdf [764 KB] copyrighted

• Motion estimation from image and inertial measurements
  D. Strelow and S. Singh
  The International Journal of Robotics Research, Vol. 23, No. 12, December, 2004, pp. 1157 - 1195.

• Robot and Sensor Networks for First Responders
  V. Kumar, D. Rus, and S. Singh
  PERVASIVE computing, October, 2004, pp. 24 - 33. [Abstract]
  Download: pdf [1886 KB] copyrighted

• Application of robust, high-accuracy positioning for autonomous ground vehicles
  unknown and S. Singh
  AUVSI Unmanned Systems North America 2004, August, 2004. [Abstract]
  Download: pdf [551 KB] copyrighted

• Preliminary Results in Sliding Autonomy for Coordinated Teams
  J. Brookshire, S. Singh, and R. Simmons
  Proceedings of The 2004 Spring Symposium Series, March, 2004. [Abstract]
  Download: pdf [414 KB] copyrighted

• Omnidirectional Visual Odometry for a Planetary Rover
  P.I. Corke, D. Strelow, and S. Singh
  Proceedings of IROS 2004, 2004. [Abstract]
  Download: pdf [338 KB] copyrighted

• Preliminary Results in Sliding Autonomy for Assembly by Coordinated Teams
  J. Brookshire, S. Singh, and R. Simmons
  2004. [Abstract]
  Download: pdf [409 KB] copyrighted

• Experimental results in range-only localization with radio
  D. Kurth, G.A. Kantor, and S. Singh
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 1, October, 2003, pp. 974 - 979.
  Download: pdf [493 KB] copyrighted

• Motion Planning for a Mobile Manipulator with Imprecise Locomotion
  D.H. Shin, B. Hamner, S. Singh, and M. Hwangbo
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003. [Abstract]
  Download: pdf [452 KB] copyrighted

• Distributed Search and Rescue with Robot and Sensor Teams
  G.A. Kantor, S. Singh, R. Peterson, D. Rus, A. Das, V. Kumar, G. Pereira, and J. Spletzer
  The 4th International Conference on Field and Service Robotics, July, 2003. [Abstract]
  Download: pdf [912 KB] copyrighted

• Optimal Motion Estimation from Visual and Inertial Measurements
  D. Strelow and S. Singh
  Proceedings of the Workshop on Integration of Vision and Inertial Sensors (INERVIS 2003), June, 2003. [Abstract]
  Download: pdf [274 KB] copyrighted

• Reckless motion estimation from omnidirectional image and inertial measurements
  D. Strelow and S. Singh
  IEEE Workshop on Omnidirectional Vision and Camera Networks (OMNIVIS 2003), June, 2003. [Abstract]
  Download: pdf [179 KB] copyrighted

• Optimal Motion Estimation from Visual and Inertial Measurements
  D. Strelow and S. Singh
  Proceedings of the Workshop on Applications of Computer Vision, December, 2002. [Abstract]
  Download: pdf [110 KB] copyrighted

• An empirical comparison of methods for image-base motion estimation
  H. Adams, S. Singh, and D. Strelow
  2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002. [Abstract]
  Download: pdf [168 KB] copyrighted

• Autonomous Coverage Operations in Semi-Structured Outdoor Environments
  P. Batavia, unknown, and S. Singh
  2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002. [Abstract]
  Download: pdf [269 KB] copyrighted

• State of the Art in Automation of Earthmoving, 2002
  S. Singh
  Proceedings of the Workshop on Advanced Geomechatronics, October, 2002.
  Download: pdf [508 KB] copyrighted

• Recent Results in Extensions to Simultaneous Localization and Mapping
  S. Singh, G.A. Kantor, and D. Strelow
  Proceedings of the International Symposium on Experimental Robotics, July, 2002. [Abstract]
  Download: pdf [711 KB] copyrighted

• Obstacle Detection in Smooth High Curvature Terrain
  P. Batavia and S. Singh
  Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), May, 2002.
  Download: pdf [255 KB] copyrighted

• Preliminary Results in Range-only Localization and Mapping
  G.A. Kantor and S. Singh
  Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), Vol. 2, May, 2002, pp. 1818 - 1823. [Abstract]
  Download: pdf [485 KB] copyrighted

• Precise omnidirectional camera calibration
  D. Strelow, J.S. Mishler, D. Koes, and S. Singh
  IEEE Computer Vision and Pattern Recognition, December, 2001. [Abstract]
  Download: pdf [603 KB] copyrighted

• Collection of Environmental Data From an Airship Platform
  G.A. Kantor, D. Wettergreen, J.P. Ostrowski, and S. Singh
  Proceedings of the SPIE Conference on Sensor Fusion and Decentralized Control in Robotic Systems IV, SPIE, Bellingham, WA, Vol. 4571, October, 2001, pp. 76-83. [Abstract]
  Download: pdf [727 KB], ps.gz [528 KB] copyrighted

• Future Directions in Multi-Robot Autonomy and Planetary Surface Construction
  T. Smith, R. Simmons, S. Singh, and D. Hershberger
  Proceedings of the 2001 Space Studies Institute Conference, May, 2001.
  Download: pdf [145 KB], ps.gz [291 KB] copyrighted

• Obstacle Detection Using Adaptive Color Segmentation and Color Stereo Homography
  P. Batavia and S. Singh
  Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, May, 2001. [Abstract]
  Download: pdf [423 KB], ps.gz [1890 KB] copyrighted

• Automatic railway classification using surface and subsurface measurements
  G.A. Kantor, H. Herman, S. Singh, J.G. Tabacchi, and W. Kaufman
  Proceeding of the 3rd International Conference on Field and Service Robotics (FSR 2001), Yleisjalljennos, Helsinki, Finland, 2001, pp. 43-48. [Abstract]
  Download: pdf [322 KB] copyrighted

• Extending Shape from Motion to Non-Central Omnidirectional Cameras
  D. Strelow, J.S. Mishler, S. Singh, and H. Herman
  Proceedings of IROS 2001, 2001. [Abstract]
  Download: pdf [716 KB] copyrighted

• Technology for Autonomous Space Systems
  A. Stroupe, S. Singh, R. Simmons, T. Smith, P. Tompkins, V. Verma, R. Vitti-Lyons, and M.D. Wagner
  tech. report CMU-RI-TR-00-02, Robotics Institute, Carnegie Mellon University, 2001.
  Download: pdf [2073 KB] copyrighted

• First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly
  R. Simmons, S. Singh, D. Hershberger, J. Ramos, and T. Smith
  Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000.
  Download: pdf [173 KB] copyrighted

• An Efficient On-line Path Planner for Outdoor Mobile Robots Operating in Vast Environments
  A. Yahja, S. Singh, and A. Stentz
  Robotics and Autonomous Systems, Vol. 33, No. 2&3, August, 2000, pp. 129-143. [Abstract]
  Download: pdf [305 KB] copyrighted

• Recent Progress in Local and Global Traversability for Planetary Rovers
  S. Singh, R. Simmons, T. Smith, A. Stentz, V. Verma, A. Yahja, and K. Schwehr
  Proceedings of the IEEE International Conference on Robotics and Automation, 2000, IEEE, April, 2000. [Abstract]
  Download: pdf [493 KB] copyrighted

• A Robotic Excavator for Autonomous Truck Loading
  A. Stentz, J. Bares, S. Singh, and P. Rowe
  Autonomous Robots, Vol. 7, No. 2, September, 1999, pp. 175-186. [Abstract]
  Download: pdf [523 KB], ps.gz [2757 KB] copyrighted

• Models for Automated Earthmoving
  H. Cannon and S. Singh
  Proceedings of the International Symposium on Experimental Robotics, March, 1999.
  Download: pdf [229 KB], ps.gz [341 KB] copyrighted

• Analysis and Design of Panoramic Stereo Vision Using Equi-Angular Pixel Cameras
  M. Ollis, H. Herman, and S. Singh
  tech. report CMU-RI-TR-99-04, Robotics Institute, Carnegie Mellon University, January, 1999. [Abstract]
  Download: pdf [2718 KB], ps.gz [6861 KB] copyrighted

• Autonomous Cross-Country Navigation Using Stereo Vision
  S. Singh and B. Digney
  tech. report CMU-RI-TR-99-03, Robotics Institute, Carnegie Mellon University, January, 1999. [Abstract]
  Download: pdf [2959 KB], ps.gz [6219 KB] copyrighted

• Modeling and Identification of Soil-tool Interaction in Automated Excavation
  O. Luengo, S. Singh, and H. Cannon
  Proceedings, IEEE/RSJ International Conference on Intelligent Robotic Systems, October, 1998.
  Download: pdf [220 KB], ps.gz [808 KB] copyrighted

• A Robotic Excavator for Autonomous Truck Loading
  A. Stentz, J. Bares, S. Singh, and P. Rowe
  IEEE/RSJ International Conference on Intelligent Robotic Systems, Vol. 7, No. 2, September, 1998, pp. 175-186. [Abstract]
  Download: pdf [587 KB], ps.gz [2432 KB] copyrighted

• Recent Results in Path Planning for Mobile Robots Operating in Vast Outdoor Environments
  A. Yahja, S. Singh, and A. Stentz
  Proc, 1998 Symposium on Image, Speech, Signal Processing and Robotics, September, 1998.
  Download: pdf [198 KB], ps.gz [405 KB] copyrighted

• Grading of Vegetative Cuttings Using Computer Vision
  S. Singh and M. Montemerlo
  Advanced Robotics, Vol. 12, No. 5, July, 1998, pp. 551 - 564. [Abstract]
  Download: pdf [157 KB], ps.gz [663 KB] copyrighted

• Framed-Quadtree Path Planning for Mobile Robots Operating in Sparse Environments
  A. Yahja, A. Stentz, S. Singh, and B. Brummit
  In Proceedings, IEEE Conference on Robotics and Automation, (ICRA), Leuven, Belgium, May, 1998. [Abstract]
  Download: pdf [170 KB], ps.gz [359 KB] copyrighted

• Multi-Resolution Planning for Earthmoving
  S. Singh and H. Cannon
  Proc. Int'l Conference on Robotics and Automation, May, 1998.
  Download: pdf [230 KB], ps.gz [1059 KB] copyrighted

• Precise Image Segmentation for Forest Inventory
  J. Byrne and S. Singh
  tech. report CMU-RI-TR-98-14, Robotics Institute, Carnegie Mellon University, May, 1998.
  Download: pdf [1176 KB], ps.gz [1818 KB] copyrighted

• The State of the Art in Automation of Earthmoving
  S. Singh
  ASCE Journal of Aerospace Engineering, Vol. 10, No. 4, October, 1997.
  Download: pdf [515 KB], ps.gz [326 KB] copyrighted

• Recent progress in the grading of vegetative cuttings
  S. Singh and M. Montemerlo
  Proceedings IROS 97, September, 1997.
  Download: pdf [139 KB], ps.gz [655 KB] copyrighted

• Search in the context of complex robot-world interaction
  S. Singh
  Proceedings, AAAI workshop on On-line search, July, 1997.
  Download: pdf [147 KB], ps.gz [168 KB] copyrighted

• Progress in the Grading of Vegetative Cuttings Using Computer Vision
  S. Singh and M. Montemerlo
  tech. report CMU-RI-TR-97-05, Robotics Institute, Carnegie Mellon University, January, 1997. [Abstract]
  Download: pdf [155 KB], ps.gz [664 KB] copyrighted

• Automated visual grading of vegetative cuttings
  Q. Ji and S. Singh
  Proc. SPIE East 96 Symposium: Optics in Agriculture, Forestry, and Biological Processing II, November, 1996.
  Download: pdf [218 KB], ps.gz [696 KB] copyrighted

• A Survey of Automation in Excavation
  S. Singh
  Journal of Mining and Material Processing Institute of Japan, August, 1996.

• Early Results in the Grading of Vegetative Cuttings Using Computer Vision
  Q. Ji and S. Singh
  tech. report CMU-RI-TR-96-22, Robotics Institute, Carnegie Mellon University, May, 1996. [Abstract]
  Download: pdf [205 KB], ps.gz [871 KB] copyrighted

• 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

• Learning to Predict Resistive Forces During Robotic Excavation
  S. Singh
  Proc. Int'l Conference on Robotics and Automation, May, 1995.
  Download: pdf [198 KB], ps.gz [135 KB] copyrighted

• Synthesis of Tactical Plans For Robotic Excavation
  S. Singh
  doctoral dissertation, tech. report CMU-RI-TR-95-27, Robotics Institute, Carnegie Mellon University, January, 1995. [Abstract]
  Download: pdf [1842 KB], ps.gz [2053 KB], ps.z [2745 KB] copyrighted

• First Results in the Autonomous Retrieval of Buried Objects
  S. Singh and H. Herman
  Automation in Construction, 1995.
  Download: pdf [177 KB], ps.gz [149 KB] copyrighted

• First Results in the Autonomous Retrieval of Buried Objects
  S. Singh and H. Herman
  Proc. IEEE Conference on Robotics and Automation, May, 1994.
  Download: pdf [177 KB], ps.gz [159 KB] copyrighted

• Developing Plans for Robotic Excavators
  S. Singh
  Proc. ASCE Conference on Robotics for Challenging Environments, February, 1994.
  Download: pdf [96 KB], ps.gz [105 KB] copyrighted

• Task Planning for Robotic Excavation
  S. Singh and S. Simmons
  Proc. IEEE/RSJ International Conference on Intelligent Robot Systems, July, 1992.
  Download: pdf [131 KB], ps.gz [135 KB] copyrighted

• Explicit Path Tracking by Autonomous Vehicles
  D.H. Shin and S. Singh
  Robotica, Vol. 10, 1992, pp. 539 - 554.
  Download: pdf [1254 KB] copyrighted

• A System for Fast Navigation of Autonomous Vehicles
  S. Singh, D. Feng, P. Keller, G. Shaffer, W. Shi, D.H. Shin, J. West, and B.X. Wu
  tech. report CMU-RI-TR-91-20, Robotics Institute, Carnegie Mellon University, September, 1991. [Abstract]
  Download: pdf [3699 KB] copyrighted

• Cyclone: A Laser Scanner for Mobile Robot Navigation
  S. Singh and J. West
  tech. report CMU-RI-TR-91-18, Robotics Institute, Carnegie Mellon University, September, 1991. [Abstract]
  Download: pdf [726 KB] copyrighted

• A Partitioned Control Scheme for Mobile Robot Navigation
  D.H. Shin and S. Singh
  Proc. IEEE International Conference on Systems Engineering, August, 1991, pp. 338 - 342. [Abstract]
  Download: pdf [395 KB] copyrighted

• An Operation Space Approach to Robotic Excavation
  S. Singh
  Proc. IEEE Symposium on Intelligent Control, August, 1991.
  Download: pdf [30 KB], ps.gz [30 KB] copyrighted

• Obstacle Detection for High Speed Navigation
  S. Singh and P. Keller
  Proc. IEEE Intn'l Conference on Robotics and Automation, April, 1991.
  Download: pdf [53 KB], ps.gz [46 KB] copyrighted

• Path Generation for Robot Vehicles Using Composite Clothoid Segments
  D.H. Shin and S. Singh
  tech. report CMU-RI-TR-90-31, Robotics Institute, Carnegie Mellon University, December, 1990. [Abstract]
  Download: pdf [1375 KB] copyrighted

• Real-Time Vision for Robot Swat-Juggling
  S. Singh
  tech. report CMU-RI-TR-90-27, Robotics Institute, Carnegie Mellon University, December, 1990. [Abstract]
  Download: pdf [779 KB] copyrighted

• Implementation of Dynamic Obstacle Avoidance on the CMU NavLab
  D. Feng, S. Singh, and B. Krogh
  Proc. IEEE International Conference on Systems Engineering, August, 1990. [Abstract]
  Download: pdf [314 KB] copyrighted

• Vehicle and Path Models for Autonomous Navigation
  S. Singh and D.H. Shin
  Vision and Navigation: The CMU Navlab, C. E. Thorpe, ed., Kluwer Press, April, 1990.

• Position Based Path Tracking for Wheeled Mobile Robots
  S. Singh and D.H. Shin
  Proc. IEEE Conference on Intelligent Robot Systems, September, 1989, pp. 386 - 391.
  Download: pdf [430 KB] copyrighted

• NAVLAB: A Autonomous Navigation Testbed
  K. Dowling, R. Guzikowski, J. Ladd, H. Pangels, S. Singh, and W.L. Whittaker
  tech. report CMU-RI-TR-87-24, Robotics Institute, Carnegie Mellon University, November, 1987.
  Download: pdf [2070 KB] copyrighted

• Robot Path Planning Using Intersecting Convex Shapes: Analysis and Simulation
  S. Singh and M.D. Wagh
  IEEE Journal of Robotics and Automation, April, 1987.

• Robot Path Planning Using Intersecting Convex Shapes
  S. Singh and M.D. Wagh
  Proc. IEEE Intn'l Conference on Robotics and Automation, April, 1986.