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Publications, Anthony (Tony) Stentz

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

• Sliding Autonomy for Peer-To-Peer Human-Robot Teams
  M.B. Dias, B. Kannan, B. Browning, E. Jones, B. Argall, M.F. Dias, M.B. Zinck, M. Veloso, and A. Stentz
  10th International Conference on Intelligent Autonomous Systems 2008, July, 2008. [Abstract]
  Download: pdf [255 KB] copyrighted

• Prior Data and Kernel Conditional Random Fields for Obstacle Detection
  C. Vallespi-Gonzalez and A. Stentz
  Robotics Proceedings IV, June, 2008. [Abstract]
  Download: pdf [2380 KB] copyrighted

• Continuous-field path planning with constrained path-dependent state variables
  G.A. Mills-Tettey, A. Stentz, and M.B. Dias
  ICRA 2008 Workshop on Path Planning on Costmaps, May, 2008. [Abstract]
  Download: pdf [488 KB] copyrighted

• Replanning with Uncertainty in Position: Sensor Updates vs. Prior Map Updates
  J.P. Gonzalez and A. Stentz
  Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA), May, 2008. [Abstract]
  Download: pdf [1588 KB] copyrighted

• Sliding Autonomy for Peer-To-Peer Human-Robot Teams
  M.B. Dias, B. Kannan, B. Browning, E. Jones, B. Argall, M.F. Dias, M.B. Zinck, M. Veloso, and A. Stentz
  tech. report CMU-RI-TR-08-16, Robotics Institute, Carnegie Mellon University, April, 2008. [Abstract]
  Download: pdf [2926 KB] copyrighted

• Cost-based Registration using A Priori Data for Mobile Robot Localization
  L. Xu and A. Stentz
  tech. report CMU-RI-TR-08-05, Robotics Institute, Carnegie Mellon University, 2008. [Abstract]
  Download: pdf [1895 KB] copyrighted

• The Dynamic Hungarian Algorithm for the Assignment Problem with Changing Costs
  G.A. Mills-Tettey, A. Stentz, and M.B. Dias
  tech. report CMU-RI-TR-07-27, Robotics Institute, Carnegie Mellon University, July, 2007. [Abstract]
  Download: pdf [139 KB] copyrighted

• DD* Lite: Efficient Incremental Search with State Dominance
  G.A. Mills-Tettey, A. Stentz, and M.B. Dias
  tech. report CMU-RI-TR-07-12, Robotics Institute, Carnegie Mellon University, May, 2007. [Abstract]
  Download: pdf [271 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps
  J.P. Gonzalez and A. Stentz
  In Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA) 2007, April, 2007. [Abstract]
  Download: pdf [1400 KB] copyrighted

• Anytime, Dynamic Planning in High-dimensional Search Spaces
  D. Ferguson and A. Stentz
  IEEE International Conference on Robotics and Automation (ICRA), 2007. [Abstract]
  Download: pdf [865 KB] copyrighted

• Global Path Planning on-board the Mars Exploration Rovers
  J. Carsten, A. Rankin, D. Ferguson, and A. Stentz
  IEEE Aerospace Conference, 2007. [Abstract]
  Download: pdf [2607 KB] copyrighted

• Improving Robot Navigation Through Self-Supervised Online Learning
  B. Sofman, E.L. Ratliff, J. Bagnell, J. Cole, N. Vandapel, and A. Stentz
  Journal of Field Robotics, Vol. 23, No. 12, December, 2006. [Abstract]
  Download: pdf [2114 KB] copyrighted

• 3D Field D: Improved Path Planning and Replanning in Three Dimensions
  J. Carsten, D. Ferguson, and A. Stentz
  Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 3381 - 3386. [Abstract]
  Download: pdf [1139 KB] copyrighted

• Anytime RRTs
  D. Ferguson and A. Stentz
  Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 5369 - 5375. [Abstract]
  Download: pdf [1108 KB] copyrighted

• Experimental Analysis of Overhead Data Processing To Support Long Range Navigation
  D. Silver, B. Sofman, N. Vandapel, J. Bagnell, and A. Stentz
  IEEE International Conference on Intelligent Robots and Systems (IROS), October, 2006, pp. 2443 - 2450. [Abstract]
  Download: pdf [1196 KB] copyrighted

• Learning-enhanced Market-based Task Allocation for Disaster Response
  E. Jones, M.B. Dias, and A. Stentz
  tech. report CMU-RI-TR-06-48, Robotics Institute, Carnegie Mellon University, October, 2006. [Abstract]
  Download: pdf [242 KB] copyrighted

• Improving Robot Navigation Through Self-Supervised Online Learning
  B. Sofman, E.L. Ratliff, J. Bagnell, N. Vandapel, and A. Stentz
  Proceedings of Robotics: Science and Systems, August, 2006. [Abstract]
  Download: pdf [1683 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps
  J.P. Gonzalez and A. Stentz
  tech. report CMU-RI-TR-06-33, Robotics Institute, Carnegie Mellon University, August, 2006. [Abstract]
  Download: pdf [1061 KB] copyrighted

• DD* Lite: Efficient Incremental Search with State Dominance
  G.A. Mills-Tettey, A. Stentz, and M.B. Dias
  Twenty-First National Conference on Artificial Intelligence (AAAI-06), July, 2006, pp. 1032-1038. [Abstract]
  Download: pdf [459 KB] copyrighted

• Market-based multirobot coordination: a survey and analysis
  M.B. Dias, R.M. Zlot, N. Kalra, and A. Stentz
  Proceedings of the IEEE, Vol. 94, No. 7, July, 2006, pp. 1257 - 1270. [Abstract]
  Download: pdf [0 KB] copyrighted

• Constrained Exploration for Studies in Multirobot Coordination
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006. [Abstract]
  Download: pdf [271 KB] copyrighted

• Dynamically Formed Heterogeneous Robot Teams Performing Tightly-Coordinated Tasks
  E. Jones, B. Browning, M.B. Dias, B. Argall, M. Veloso, and A. Stentz
  International Conference on Robotics and Automation, May, 2006, pp. 570 - 575. [Abstract]
  Download: pdf [421 KB] copyrighted

• Replanning with RRTs
  D. Ferguson, N. Kalra, and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006, pp. 1243 - 1248. [Abstract]
  Download: pdf [351 KB] copyrighted

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

• Incremental Reconstruction of Generalized Voronoi Diagrams on Grids
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006. [Abstract]
  Download: pdf [4551 KB] copyrighted

• Multi-resolution Field D*
  D. Ferguson and A. Stentz
  Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006. [Abstract]
  Download: pdf [4756 KB] copyrighted

• Mission-level path planning and re-planning for rover exploration
  P. Tompkins, A. Stentz, and D. Wettergreen
  Robotics and Autonomous Systems, Intelligent Autonomous Systems, Vol. 54, No. 2, February, 2006, pp. 174 - 183. [Abstract]
  Download: pdf [1803 KB] copyrighted

• The Geometric Path Planner for Navigating Unmanned Vehicles in Dynamic Environments
  J.P. Gonzalez, B. Nagy, and A. Stentz
  Proceedings ANS 1st Joint Emergency Preparedness and Response and Robotic and Remote Systems, February, 2006. [Abstract]
  Download: pdf [973 KB] copyrighted

• Market-based Multirobot Coordination for Complex Tasks
  R.M. Zlot and A. Stentz
  International Journal of Robotics Research, Special Issue on the 4th International Conference on Field and Service Robotics, Vol. 25, No. 1, January, 2006, pp. 73-101. [Abstract]
  Download: pdf [2407 KB] copyrighted

• Terrain Classification from Aerial Data to Support Ground Vehicle Navigation
  B. Sofman, J. Bagnell, A. Stentz, and N. Vandapel
  tech. report CMU-RI-TR-05-39, Robotics Institute, Carnegie Mellon University, January, 2006. [Abstract]
  Download: pdf [697 KB] copyrighted

• Market-Based Multirobot Coordination: A Comprehensive Survey and Analysis
  N. Kalra, M.B. Dias, R.M. Zlot, and A. Stentz
  tech. report CMU-RI-TR-05-16, Robotics Institute, Carnegie Mellon University, December, 2005. [Abstract]
  Download: pdf [499 KB] copyrighted

• Field D*: An Interpolation-based Path Planner and Replanner
  D. Ferguson and A. Stentz
  Proceedings of the International Symposium on Robotics Research (ISRR), October, 2005. [Abstract]
  Download: pdf [1540 KB] copyrighted

• Improving cost estimation in market-based coordination of a distributed sensing task
  M.B. Dias, B. Ghanem, and A. Stentz
  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 2005, pp. 3972 - 3977. [Abstract]
  Download: pdf [359 KB] copyrighted

• Planning with Uncertainty in Position: An Optimal and Efficient Planner
  J.P. Gonzalez and A. Stentz
  Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 2435 - 2442. [Abstract]
  Download: pdf [477 KB] copyrighted

• A Guide to Heuristic-based Path Planning
  D. Ferguson, M. Likhachev, and A. Stentz
  Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS), June, 2005. [Abstract]
  Download: pdf [1806 KB] copyrighted

• Anytime Dynamic A*: An Anytime, Replanning Algorithm
  M. Likhachev, D. Ferguson, G. Gordon, A. Stentz, and S. Thrun
  Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), June, 2005. [Abstract]
  Download: pdf [4020 KB] copyrighted

• Interacting Markov Random Fields for Simultaneous Terrain Modeling and Obstacle Detection
  C. Wellington, A. Courville, and A. Stentz
  Proceedings of Robotics: Science and Systems, June, 2005. [Abstract]
  Download: pdf [3208 KB] copyrighted

• The Field D* Algorithm for Improved Path Planning and Replanning in Uniform and Non-Uniform Cost Environments
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-05-19, Robotics Institute, Carnegie Mellon University, June, 2005. [Abstract]
  Download: pdf [1920 KB] copyrighted

• Anytime Dynamic A*: The Proofs
  M. Likhachev, D. Ferguson, G. Gordon, A. Stentz, and S. Thrun
  tech. report CMU-RI-TR-05-12, Robotics Institute, Carnegie Mellon University, May, 2005. [Abstract]
  Download: pdf [163 KB] copyrighted

• Complex Task Allocation For Multiple Robots
  R.M. Zlot and A. Stentz
  Proceedings of the International Conference on Robotics and Automation, IEEE, April, 2005, pp. 1515 - 1522. [Abstract]
  Download: pdf [551 KB] copyrighted

• Dynamic Heterogeneous Robot Teams Engaged in Adversarial Tasks
  M.B. Dias, B. Browning, M. Veloso, and A. Stentz
  tech. report CMU-RI-TR-05-14, Robotics Institute, Carnegie Mellon University, April, 2005. [Abstract]
  Download: pdf [521 KB] copyrighted

• Hoplites: A Market-Based Framework for Planned Tight Coordination in Multirobot Teams
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the International Conference on Robotics and Automation, April, 2005, pp. 1170 - 1177. [Abstract]
  Download: pdf [237 KB] copyrighted

• Market-Based Multirobot Coordination: A Survey and Analysis
  M.B. Dias, R.M. Zlot, N. Kalra, and A. Stentz
  tech. report CMU-RI-TR-05-13, Robotics Institute, Carnegie Mellon University, April, 2005. [Abstract]
  Download: pdf [71 KB] copyrighted

• The Delayed D* Algorithm for Efficient Path Replanning
  D. Ferguson and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005, pp. 2045 - 2050. [Abstract]
  Download: pdf [205 KB] copyrighted

• Focussed processing of MDPs for path planning
  D. Ferguson and A. Stentz
  Proceedings of the 16th IEEE International Conference on Tools with Artificial Intelligence (ICTAI '04), November, 2004, pp. 310 - 317. [Abstract]
  Download: pdf [172 KB] copyrighted

• Planning with Uncertainty in Position: an Optimal Planner
  J.P. Gonzalez and A. Stentz
  tech. report CMU-RI-TR-04-63, Robotics Institute, Carnegie Mellon University, November, 2004. [Abstract]
  Download: pdf [944 KB], ps.gz [736 KB] copyrighted

• Delayed D*: The Proofs
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-04-51, Robotics Institute, Carnegie Mellon University, September, 2004. [Abstract]
  Download: pdf [83 KB] copyrighted

• Planning with Imperfect Information
  D. Ferguson and A. Stentz
  Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vol. 2, September, 2004, pp. 1926 - 1931. [Abstract]
  Download: pdf [225 KB], ps.gz [249 KB] copyrighted

• Hoplites: A Market Framework for Complex Tight Coordination in Multi-Agent Teams
  N. Kalra, A. Stentz, and D. Ferguson
  tech. report CMU-RI-TR-04-41, Robotics Institute, Carnegie Mellon University, August, 2004. [Abstract]
  Download: pdf [323 KB], ps.gz [225 KB] copyrighted

• Enabling Learning From Large Datasets: Applying Active Learning to Mobile Robotics
  C. Dima, M. Hebert, and A. Stentz
  International Conference on Robotics and Automation, IEEE, Vol. 1, April, 2004, pp. 108 - 114. [Abstract]
  Download: pdf [1159 KB] copyrighted

• Online Adaptive Rough-Terrain Navigation in Vegetation
  C. Wellington and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, April, 2004, pp. 96 - 101. [Abstract]
  Download: pdf [1916 KB] copyrighted

• PAO* for Planning with Hidden State
  D. Ferguson, A. Stentz, and S. Thrun
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation, Vol. 3, April, 2004, pp. 2840 - 2847. [Abstract]
  Download: pdf [369 KB] copyrighted

• Robust Multirobot Coordination in Dynamic Environments
  M.B. Dias, M.B. Zinck, R.M. Zlot, and A. Stentz
  IEEE International Conference on Robotics and Automation, Vol. 4, April, 2004, pp. 3435 - 3442. [Abstract]
  Download: pdf [113 KB] copyrighted

• A Versatile Implementation of the TraderBots Approach for Multirobot Coordination
  M.B. Dias, R.M. Zlot, M.B. Zinck, J.P. Gonzalez, and A. Stentz
  March, 2004. [Abstract]
  Download: pdf [120 KB] copyrighted

• Field Experiments in Mission-Level Path Execution and Re-Planning
  P. Tompkins, A. Stentz, and W.L. Whittaker
  Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS-8), March, 2004. [Abstract]
  Download: pdf [802 KB] copyrighted

• Focussed Dynamic Programming: Extensive Comparative Results
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-04-13, Robotics Institute, Carnegie Mellon University, March, 2004. [Abstract]
  Download: pdf [140 KB], ps.gz [114 KB] copyrighted

• Global Path Planning for Mars Rover Exploration
  P. Tompkins, A. Stentz, and D. Wettergreen
  Proceedings of the 2004 IEEE Aerospace Conference, March, 2004. [Abstract]
  Download: pdf [1233 KB] copyrighted

• Market-Based Approaches for Coordination of Multi-Robot Teams at Different Granularities of Interaction
  A. Stentz, M.B. Dias, R.M. Zlot, and N. Kalra
  Proceedings of the ANS 10th International Conference on Robotics and Remote Systems for Hazardous Environments, March, 2004. [Abstract]
  Download: pdf [394 KB], ps.gz [7367 KB] copyrighted

• Mission-Level Path Planning for Rover Exploration
  P. Tompkins, A. Stentz, and W.L. Whittaker
  Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS-8), March, 2004. [Abstract]
  Download: pdf [523 KB] copyrighted

• Planning with Map Uncertainty
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-04-09, Robotics Institute, Carnegie Mellon University, February, 2004. [Abstract]
  Download: pdf [226 KB], ps.gz [258 KB] copyrighted

• Vegetation Detection for Mobile Robot Navigation
  D. Bradley, S. Thayer, A. Stentz, and P. Rander
  tech. report CMU-RI-TR-04-12, Robotics Institute, Carnegie Mellon University, February, 2004. [Abstract]
  Download: pdf [1561 KB] copyrighted

• Planning with Pinch Points
  D. Ferguson, A. Stentz, and S. Thrun
  tech. report CMU-RI-TR-04-06, Robotics Institute, Carnegie Mellon University, January, 2004. [Abstract]
  Download: pdf [267 KB] copyrighted

• A comparative study between centralized, market-based, and behavioral multirobot coordination approaches
  M.B. Dias and A. Stentz
  Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 3, October, 2003, pp. 2279 - 2284. [Abstract]
  Download: pdf [391 KB] copyrighted

• TraderBots: A Market-Based Approach for Resource, Role, and Task Allocation in Multirobot Coordination
  M.B. Dias and A. Stentz
  tech. report CMU-RI -TR-03-19, Robotics Institute, Carnegie Mellon University, August, 2003. [Abstract]
  Download: pdf [175 KB] copyrighted

• Learning Predictions of the Load-Bearing Surface for Autonomous Rough-Terrain Navigation in Vegetation
  C. Wellington and A. Stentz
  International Conference on Field and Service Robotics, July, 2003, pp. 49-54. [Abstract]
  Download: pdf [3246 KB] copyrighted

• Market-based Multirobot Coordination Using Task Abstraction
  R.M. Zlot and A. Stentz
  International Conference on Field and Service Robotics, July, 2003. [Abstract]
  Download: pdf [489 KB] copyrighted

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

• A Market Approach to Tightly-Coupled Multi-Robot Coordination: First Results
  N. Kalra and A. Stentz
  Proceedings of the ARL Collaborative Technologies Alliance Symposium, May, 2003. [Abstract]
  Download: pdf [161 KB], ps.gz [298 KB] copyrighted

• Market-Based Multirobot Coordination For Complex Space Applications
  M.B. Dias, D. Goldberg, and A. Stentz
  The 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space, May, 2003. [Abstract]

• Market-Based Multi-Robot Planning in a Distributed Layered Architecture
  D. Goldberg, V. Cicirello, M.B. Dias, R. Simmons, S. Smith, and A. Stentz
  Multi-Robot Systems: From Swarms to Intelligent Automata: Proceedings from the 2003 International Workshop on Multi-Robot Systems, Kluwer Academic Publishers, Vol. 2, 2003, pp. 27-38. [Abstract]

• Opportunistic Optimization for Market-Based Multirobot Control
  M.B. Dias and A. Stentz
  Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), Vol. 3, September, 2002, pp. 2714 - 2720. [Abstract]
  Download: pdf [121 KB] copyrighted

• Enhanced Negotiation and Opportunistic Optimization for Market-Based Multirobot Coordination
  M.B. Dias and A. Stentz
  tech. report CMU-RI -TR-02-18, Robotics Institute, Carnegie Mellon University, August, 2002. [Abstract]
  Download: pdf [137 KB] copyrighted

• A System for Semi-Autonomous Tractor Operations
  A. Stentz, C. Dima, C. Wellington, H. Herman, and D. Stager
  Autonomous Robots, Vol. 13, No. 1, July, 2002, pp. 87-103. [Abstract]

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

• Stereo perception on an off-road vehicle
  A. Rieder, B. Southall, G. Salgian, R. Mandelbaum, H. Herman, P. Rander, and A. Stentz
  IEEE 2002 Intelligent Vehicle Symposium, Vol. 1, June, 2002, pp. 221 - 226. [Abstract]
  Download: pdf [680 KB] copyrighted

• A Layered Architecture for Coordination of Mobile Robots
  R. Simmons, T. Smith, M.B. Dias, D. Goldberg, D. Hershberger, A. Stentz, and R.M. Zlot
  Multi-Robot Systems: From Swarms to Intelligent Automata, Proceedings from the 2002 NRL Workshop on Multi-Robot Systems, Kluwer Academic Publishers, May, 2002. [Abstract]

• Mission Planning for the Sun-Synchronous Navigation Field Experiment
  P. Tompkins, A. Stentz, and W.L. Whittaker
  Proceedings of the 2002 IEEE International Conference on Robotics and Automation, May, 2002. [Abstract]
  Download: pdf [218 KB] copyrighted

• Multi-Robot Exploration Controlled By A Market Economy
  R.M. Zlot, A. Stentz, M.B. Dias, and S. Thayer
  IEEE International Conference on Robotics and Automation, Vol. 3, May, 2002, pp. 3016 - 3023. [Abstract]
  Download: pdf [815 KB] copyrighted

• Market-Driven Multi-Robot Exploration
  R.M. Zlot, A. Stentz, M.B. Dias, and S. Thayer
  tech. report CMU-RI-TR-02-02, Robotics Institute, Carnegie Mellon University, January, 2002. [Abstract]
  Download: pdf [257 KB], ps.gz [822 KB] copyrighted

• A Distributed Layered Architecture for Mobile Robot Coordination: Application to Space Exploration
  D. Goldberg, V. Cicirello, M.B. Dias, R. Simmons, S. Smith, T. Smith, and A. Stentz
  Proceedings of the 3rd International NASA Workshop on Planning and Scheduling for Space, 2002. [Abstract]

• A Market Approach to Multirobot Coordination
  M.B. Dias and A. Stentz
  tech. report CMU-RI -TR-01-26, Robotics Institute, Carnegie Mellon University, August, 2001. [Abstract]
  Download: pdf [341 KB], ps.gz [1929 KB] copyrighted

• Automated Surface Mission Planning Considering Terrain, Shadows, Resources and Time
  P. Tompkins, A. Stentz, and W.L. Whittaker
  Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), Montreal, Canada., June, 2001. [Abstract]
  Download: pdf [362 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

• A Free Market Architecture for Distributed Control of a Multirobot System
  M.B. Dias and A. Stentz
  6th International Conference on Intelligent Autonomous Systems (IAS-6), July, 2000, pp. 115-122. [Abstract]
  Download: pdf [190 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 Free Market Architecture for Coordinating Multiple Robots
  A. Stentz and M.B. Dias
  tech. report CMU-RI-TR-99-42, Robotics Institute, Carnegie Mellon University, December, 1999. [Abstract]
  Download: pdf [105 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

• Position Measurement for Automated Mining Machinery
  A. Stentz, M. Ollis, S. Scheding, H. Herman, C. Fromme, J. Pedersen, T. Hegadorn, R. McCall, J. Bares, and R. Moore
  Proceedings of the 1999 International Conference on Field and Service Robotics, August, 1999, pp. 299 - 304. [Abstract]
  Download: pdf [404 KB], ps.gz [1031 KB] copyrighted

• The Demeter System for Automated Harvesting
  T. Pilarski, M. Happold, H. Pangels, M. Ollis, K. Fitzpatrick, and A. Stentz
  Proceedings of the 8th International Topical Meeting on Robotics and Remote Systems, April, 1999. [Abstract]
  Download: pdf [1293 KB], ps.gz [2767 KB] copyrighted

• Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator
  P. Leger, P. Rowe, J. Bares, S. Boehmke, and A. Stentz
  Proceedings of SPIE Mobile Robots XIII, Vol. 3525, November, 1998, pp. 146-156. [Abstract]
  Download: pdf [153 KB], ps.gz [258 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

• Mobility Planning for Autonomous Navigation of Multiple Robots in Unstructured Environments
  M. Hebert, A. Stentz, and C. Thorpe
  Proceedings of ISIC/CIRA/ISAS Joint Conference on the Science and Technology of Intelligent Systems, September, 1998, pp. 652 - 657. [Abstract]
  Download: pdf [638 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

• 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

• GRAMMPS: A Generalized Mission Planner for Multiple Mobile Robots
  B. Brummit and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation, May, 1998. [Abstract]
  Download: pdf [120 KB], ps.gz [135 KB] copyrighted

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

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

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

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

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

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

• Parameterized Scripts for Motion Planning
  P. Rowe and A. Stentz
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robotic Systems, Vol. 2, September, 1997, pp. 1119 - 1124. [Abstract]
  Download: pdf [722 KB] copyrighted

• Vision-Based Perception for an Autonomous Harvester
  M. Ollis and A. Stentz
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robotic Systems, Vol. 3, September, 1997, pp. 1838 - 1844. [Abstract]
  Download: pdf [1264 KB], ps.gz [2243 KB] copyrighted

• Best Information Planning for Unknown, Uncertain, and Changing Domains
  A. Stentz
  Proceedings of the AAAI Workshop on On-Line Search, July, 1997.

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

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

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

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

• Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon
  M. Hebert, C. Thorpe, and A. Stentz
  KluwerAcademic Publishers, 1997.

• Map Building and Terrain-Aided Localisation in an Underground Mine
  G. Dissanayake, M. Hebert, A. Stentz, and H. Durrant-Whyte
  Proceedings of the Field and Service Robotics Conference, 1997.

• Dynamic Mission Planning for Multiple Mobile Robots
  B. Brummit and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation, April, 1996. [Abstract]
  Download: pdf [35 KB], ps.gz [38 KB] copyrighted

• First Results in Vision-Based Crop Line Tracking
  M. Ollis and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, April, 1996, pp. 951 - 956. [Abstract]
  Download: pdf [337 KB], ps.gz [1959 KB] copyrighted

• Map-Based Strategies for Robot Navigation in Unknown Environments
  A. Stentz
  Proceedings of the AAAI Spring Symposium on Planning with Incomplete Information for Robot Problems, March, 1996. [Abstract]
  Download: pdf [656 KB], ps.gz [795 KB] copyrighted

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

• A Complete Navigation System for Goal Acquisition in Unknown Environments
  A. Stentz and M. Hebert
  Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95), Vol. 1, August, 1995, pp. 425 - 432. [Abstract]
  Download: pdf [503 KB], ps.gz [808 KB] copyrighted

• Sensor fusion for autonomous outdoor navigation using neural networks
  I. Davis and A. Stentz
  Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95), Vol. 3, August, 1995, pp. 338 - 343. [Abstract]
  Download: pdf [676 KB] copyrighted

• The Focussed D* Algorithm for Real-Time Replanning
  A. Stentz
  Proceedings of the International Joint Conference on Artificial Intelligence, August, 1995. [Abstract]
  Download: pdf [82 KB], ps.gz [125 KB] copyrighted

• Resolution Independent Grid-based Path Planning
  G. Krishnaswamy and A. Stentz
  tech. report CMU-RI-TR-95-08, Robotics Institute, Carnegie Mellon University, April, 1995. [Abstract]
  Download: pdf [705 KB] copyrighted

• A Mobile Robot Iconic Position Estimator using a Radial Laser Scanner
  J. Gonzalez, A. Stentz, and A. Ollero
  Journal of Intelligent and Robotic Systems, Vol. 13, 1995, pp. 161-179.

• The D* Algorithm for Real-Time Planning of Optimal Traverses
  A. Stentz
  tech. report CMU-RI-TR-94-37, Robotics Institute, Carnegie Mellon University, October, 1994. [Abstract]
  Download: pdf [1477 KB] copyrighted

• Active Surface/Subsurface Perception for Autonomous Excavation
  H. Herman and A. Stentz
  Proceedings of the SPIE Conference on Sensor Fusion and Aerospace Applications II, June, 1994.

• Optimal and Efficient Path Planning for Partially-Known Environments
  A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '94), Vol. 4, May, 1994, pp. 3310 - 3317. [Abstract]
  Download: pdf [195 KB], ps.gz [252 KB] copyrighted

• A Complete Navigation System for Goal Acquisition in Unknown Environments
  A. Stentz and M. Hebert
  tech. report CMU-RI-TR-94-07, Robotics Institute, Carnegie Mellon University, April, 1994. [Abstract]
  Download: pdf [1122 KB] copyrighted

• Subsurface Sensing for the Autonomous Retrieval of Buried Objects
  H. Herman and A. Stentz
  Proceedings of the International Conference on Ground Penetrating Radar, April, 1994.

• Smart Cars: The CMU Navlab
  C. Thorpe, R.C. Coulter, M. Hebert, T. Jochem, D. Langer, D. Pomerleau, J. Rosenblatt, W. Ross, and A. Stentz
  Proceedings of WORLD MED93, October, 1993.

• Optimal and Efficient Path Planning for Unknown and Dynamic Environments
  A. Stentz
  tech. report CMU-RI-TR-93-20, Robotics Institute, Carnegie Mellon University, August, 1993. [Abstract]
  Download: pdf [1551 KB] copyrighted

• Automated Surveying of Mines Using a Scanning Laser Rangefinder
  G. Shaffer and A. Stentz
  Proceedings of SME Annual Symposium on Robotics and Automation, February, 1993.

• Position Estimator for Underground Mine Equipment
  G. Shaffer, A. Stentz, W.L. Whittaker, and K. Fitzpatrick
  IEEE Transactions on Industry Applications, Vol. 28, No. 5, September, 1992, pp. 1131 - 1140. [Abstract]
  Download: pdf [949 KB] copyrighted

• A Robotic System for Underground Coal Mining
  G. Shaffer and A. Stentz
  Proceedings of IEEE International Conference on Robotics and Automation (ICRA '92), Vol. 1, May, 1992, pp. 633 - 638. [Abstract]
  Download: pdf [596 KB] copyrighted

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

• An Iconic Position Estimator for a 2-D Laser Rangefinder
  J. Gonzalez, A. Stentz, and A. Ollero
  tech. report CMU-RI-TR-92-04, Robotics Institute, Carnegie Mellon University, May, 1992. [Abstract]
  Download: pdf [610 KB] copyrighted

• An Iconic Position Estimator for a 2D Laser RangeFinder
  J. Gonzalez, A. Stentz, and A. Ollero
  Proceedings of IEEE International Conference on Robotics and Automation (ICRA '92), Vol. 3, May, 1992, pp. 2646 - 2651. [Abstract]
  Download: pdf [497 KB] copyrighted

• A Comparison of Two Range-Based Pose Estimators for a Mobile Robot
  G. Shaffer, J. Gonzalez, and A. Stentz
  Proceedings of SPIE Symposium on Mobile Robots, 1992.

• A Method for Determining Path Admissability for an Offroad Mobile Robot in Rugged Terrain
  R.C. Coulter and A. Stentz
  CSME Transport, 1992.

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

• Dynamic Trajectory Planning for a Cross-Country Navigator
  B. Brummit, R.C. Coulter, and A. Stentz
  Proceedings of SPIE Symposium on Mobile Robots, 1992. [Abstract]
  Download: pdf [46 KB], ps.gz [48 KB] copyrighted

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

• A Telerobotic Solution for Tool Insertion Tasks in Nuclear Servicing
  R.C. Coulter, A. Stentz, P. Keller, and W.L. Whittaker
  Remote Systems Session of the ANS Winter Meeting, November, 1991.

• An Application of Tool Insertion Using Model Based Vision
  R.C. Coulter, A. Stentz, P. Keller, and W.L. Whittaker
  Proceedings of IEEE International Conference on Systems Engineering, August, 1991, pp. 316 - 319. [Abstract]
  Download: pdf [315 KB] copyrighted

• A System for Telerobotic Control of Servicing Tasks in a Nuclear Steam Generator
  R.C. Coulter, A. Stentz, P.G. Keller, G.K. Shaffer, W.L. Whittaker, B. Brummit, and W. Burky
  tech. report CMU-RI-TR-90-24, Robotics Institute, Carnegie Mellon University, December, 1990. [Abstract]
  Download: pdf [682 KB] copyrighted

• Position Estimator for Robotic Mine Equipment
  G. Shaffer, A. Stentz, W.L. Whittaker, and K. Fitzpatrick
  Proceedings of Tenth WVU International Mining Electrotechnology Conference, July, 1990.

• Hierarchical Terrain Representations for Off-Road Navigation
  J. Gowdy, A. Stentz, and M. Hebert
  Proceedings of SPIE Symposium on Mobile Robots, 1990. [Abstract]
  Download: pdf [464 KB] copyrighted

• Multiresolution Constraint Modeling for Mobile Robot Planning
  A. Stentz
  Proceedings of SPIE Symposium on Advances in Intelligent Robotics Systems, November, 1989.

• Against Complex Architectures
  A. Stentz and C. Thorpe
  Proceedings of the 6th International Symposium on Unmanned Untethered Submersible Technology, June, 1989, pp. 308 - 311.
  Download: pdf [14 KB] copyrighted

• Against Complex Architectures
  A. Stentz and C. Thorpe
  Proceedings of AAAI Spring Symposium Series, March, 1989.

• The Driving Pipeline: A Driving Control Scheme for Mobile Robots
  Y. Goto, S.A. Schafer, and A. Stentz
  tech. report CMU-RI-TR-88-08, Robotics Institute, Carnegie Mellon University, June, 1988.
  Download: pdf [1075 KB] copyrighted

• The CMU Navigational Architecture
  A. Stentz and Y. Goto
  Proceedings of the DARPA Image Understanding Workshop, February, 1987.

• Mobile Robot Navigation: The CMU System
  Y. Goto and A. Stentz
  IEEE Expert, Vol. 2, No. 4, 1987, pp. 44 - 55.
  Download: pdf [240 KB] copyrighted

• Module Programmer's Guide to Local Map Builder for ALVan
  A. Stentz and S. Shafer
  June, 1986. [Abstract]
  Download: pdf [3949 KB] copyrighted

• An Architecture for Sensor Fusion in a Mobile Robot
  S. Shafer, A. Stentz, and C. Thorpe
  tech. report CMU-RI-TR-86-09, Robotics Institute, Carnegie Mellon University, April, 1986.
  Download: pdf [1242 KB] copyrighted

• An Architecture for Autonomous Vehicle Navigation
  A. Stentz and C. Thorpe
  Proceedings of the Fourth International Symposium on Unmanned Untethered Submersible Technology, 1985.

• First Results in Robot Road-Following
  R. Wallace, A. Stentz, C. Thorpe, H. Moravec, W.L. Whittaker, and T. Kanade
  Proceedings of the International Joint Conference on Artificial Intelligence, 1985.

• Dynamically Stable Legged Locomotion Progress Report: October 1982 - October 1983
  M.H. Raibert, H. Brown, M. Chepponis, E. Hastings, J. Koechling, K.N. Murphy, S.S. Murthy, and A. Stentz
  tech. report CMU-RI-TR-83-20, Robotics Institute, Carnegie Mellon University, December, 1983. [Abstract]
  Download: pdf [6432 KB] copyrighted