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Publications, Scott Thayer

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

• Topological Exploration of Subterranean Environments
  D. Silver, D. Ferguson, A.C. Morris, and S. Thayer
  Journal of Field Robotics, Vol. 23, No. 6, July, 2006, pp. 395-415.

• 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

• Recent Developments in Subterranean Robotics
  A.C. Morris, D. Ferguson, Z. Omohundro, D. Bradley, D. Silver, C. Baker, S. Thayer, W. Whittaker, and W.L. Whittaker
  Journal of Field Robotics, Vol. 23, No. 1, January, 2006, pp. 35-57. [Abstract]
  Download: pdf [2405 KB] copyrighted

• An Analysis of the Human Odometer
  U. Wong, C. Lyons, and S. Thayer
  tech. report CMU-RI-TR-05-47, Robotics Institute, Carnegie Mellon University, September, 2005. [Abstract]
  Download: pdf [558 KB] copyrighted

• Real-time image-based topological localization in large outdoor environments
  D. Bradley, R. Patel, N. Vandapel, and S. Thayer
  2005 IEEE International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 3670 - 3677. [Abstract]
  Download: pdf [304 KB] copyrighted

• Towards Topological Exploration of Abandoned Mines
  A.C. Morris, D. Silver, D. Ferguson, and S. Thayer
  Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005, pp. 2117 - 2123. [Abstract]
  Download: pdf [510 KB] copyrighted

• A regional point descriptor for global localization in subterranean environments
  D. Bradley, D. Silver, and S. Thayer
  IEEE conference on Robotics Automation and Mechatronics (RAM 2005), Vol. 1, December, 2004, pp. 440 - 445. [Abstract]
  Download: pdf [167 KB] copyrighted

• Autonomous exploration and mapping of abandoned mines
  S. Thrun, S. Thayer, W. Whittaker, C. Baker, W. Burgard, D. Ferguson, D. Haehnel, M. Montemerlo, A.C. Morris, Z. Omohundro, C. Reverte, and W.L. Whittaker
  IEEE Robotics and Automation Magazine, Vol. 11, No. 4, December, 2004, pp. 79-91. [Abstract]
  Download: pdf [2982 KB] copyrighted

• Scan Matching for Flooded Subterranean Voids
  D. Silver, D. Bradley, and S. Thayer
  IEEE conference on Robotics Automation and Mechatronics (RAM), Vol. 1, December, 2004, pp. 422 - 427. [Abstract]
  Download: pdf [341 KB] copyrighted

• Feature Extraction for Topological Mine Maps
  D. Silver, D. Ferguson, A.C. Morris, and S. Thayer
  Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vol. 1, September, 2004, pp. 773 - 779. [Abstract]
  Download: pdf [363 KB] copyrighted

• A Campaign in Autonomous Mine Mapping
  C. Baker, A.C. Morris, D. Ferguson, S. Thayer, C. Whittaker, Z. Omohundro, C. Reverte, W.L. Whittaker, D. Haehnel, and S. Thrun
  Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Vol. 2, April, 2004, pp. 2004 - 2009. [Abstract]
  Download: pdf [1335 KB] copyrighted

• A Principled Analysis of THS(X) 3.2.0
  W.R. Ommert, M.L. Ross, C. Lyons, and S. Thayer
  tech. report CMU-RI-TR-04-60, Robotics Institute, Carnegie Mellon University, March, 2004.
  Download: pdf [13347 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

• Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
  A.C. Morris, D. Kurth, D. Huber, C. Whittaker, and S. Thayer
  International Conference on Field and Service Robotics (FSR), July, 2003. [Abstract]
  Download: pdf [1304 KB] copyrighted

• A System for Volumetric Robotic Mapping of Abandoned Mines
  S. Thrun, D. Haehnel, D. Ferguson, M. Montemerlo, R. Triebel, W. Burgard, C. Baker, Z. Omohundro, S. Thayer, and W.L. Whittaker
  Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), Vol. 3, May, 2003, pp. 4270 - 4275. [Abstract]
  Download: pdf [1567 KB], ps.gz [5646 KB] copyrighted

• An Autonomous Robotic System for Mapping Abandoned Mines
  D. Ferguson, A.C. Morris, D. Haehnel, C. Baker, Z. Omohundro, C. Reverte, S. Thayer, W.L. Whittaker, C. Whittaker, W. Burgard, and S. Thrun
  Advances in Neural Information Processing Systems (NIPS 03), 2003. [Abstract]
  Download: pdf [1851 KB] copyrighted

• Kilorobot Search and Rescue Using an Immunologically Inspired Approach
  S. Singh and S. Thayer
  Distributed Autonomous Robotic Systems, Springer-Verlag, Vol. 5, June, 2002. [Abstract]
  Download: pdf [504 KB] copyrighted

• A Foundation for Kilorobotic Exploration
  S. Singh and S. Thayer
  Proceedings of the Congress on Evolutionary Computation at the 2002 IEEE World Congress on Computational Intelligence, May, 2002. [Abstract]
  Download: pdf [974 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

• Running Surface Assessment Technology Review
  D.T. Latimer, IV, S. Gujar, J. Garrett, B. Akinci, S. Thayer, and C. Paredis
  tech. report CMU-ICES-TR-04-03-02, ICES, Carnegie Mellon University, May, 2002. [Abstract]
  Download: pdf [664 KB] copyrighted

• Adaptive Multi-Robot, Multi-Operator Work Systems
  A.C. Morris, C. Smart, and S. Thayer
  Multi-Robot Systems: From Swarms to Intelligent Automata, Kluwer Academic Publishers, P.O. Box 17, 3300 AA Dordrecht, The Netherlands, Vol. 1, March, 2002, pp. 203-211. [Abstract]
  Download: pdf [219 KB] copyrighted

• Four Generations of Robotic Mapping and Exploration in Extreme Enviroments
  S. Thayer
  International Symposium on Artificial Intelligence, Robotics and Human Centered Technology for Nuclear Applications (AIR'02), January, 2002, pp. 85-92. [Abstract]
  Download: pdf [675 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

• Immunology Directed Methods for Distributed Robotics: A Novel, Immunity-Based Architecture for Robust Control & Coordination
  S. Singh and S. Thayer
  Proceedings of SPIE: Mobile Robots XVI, Vol. 4573, November, 2001. [Abstract]
  Download: pdf [662 KB] copyrighted

• ARMS (Autonomous Robots for Military Systems): A Survey of Collaborative Robotics Core Technologies and Their Military Applications
  S. Singh and S. Thayer
  tech. report CMU-RI-TR-01-16, Robotics Institute, Carnegie Mellon University, July, 2001. [Abstract]
  Download: pdf [13396 KB] copyrighted

• Reality Browsing: Using Information Interaction and Robotic Autonomy for Planetary Exploration
  P. Coppin, M.D. Wagner, and S. Thayer
  Space Technology and Applications International Forum 2001 (STAIF 2001), Mohamed S. El-Genk, American Institute of Physics, Melville, NY, Vol. 552, February, 2001, pp. 64-69. [Abstract]
  Download: pdf [72 KB] copyrighted

• Distributed Robotic Mapping of Extreme Environments
  S. Thayer, B. Digney, M.B. Dias, A. Stentz, B. Nabbe, and M. Hebert
  Proceedings of SPIE: Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Vol. 4195, November, 2000. [Abstract]
  Download: pdf [2680 KB] copyrighted

• ARTISAN: An Integrated Scene Mapping and Object Recognition System
  V. Broz, O. Carmichael, S. Thayer, J. Osborn, and M. Hebert
  American Nuclear Society 8th Intl. Topical Meeting on Robotics and Remote Systems, American Nuclear Society, April, 1999. [Abstract]
  Download: pdf [813 KB] copyrighted

• Virtual Reality Mapping System for Chernobyl Accident Site Assessment
  T.T. Blackmon, S. Thayer, J. Teza, V. Broz, J. Osborn, M. Hebert, and et al
  Proceedings of the SPIE, Vol. 3644, February, 1999, pp. 338-345. [Abstract]

• A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chernobyl
  M. Maimone, L. Matthies, J. Osborn, E. Rollins, J. Teza, and S. Thayer
  Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '98), Vol. 3, October, 1998, pp. 1521 - 1527. [Abstract]
  Download: pdf [588 KB], ps.gz [1022 KB] copyrighted

• Designing Stereo Heads Using Task Domain Constraints
  S. Thayer and C.S. Gourley
  Proceedings of ICPR, IEEE, 1996, pp. 820-824. [Abstract]