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Publications, William Red L. Whittaker

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

• Plowing for Controlled Steep Crater Descents
  J. Ziglar, D. Kohanbash, D. Wettergreen, and W.L. Whittaker
  International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008. [Abstract]
  Download: pdf [6045 KB] copyrighted

• Technologies Toward Lunar Crater Exploration
  J. Ziglar, D. Kohanbash, D. Wettergreen, and W.L. Whittaker
  tech. report CMU-RI-TR-07-40, Robotics Institute, Carnegie Mellon University, April, 2007. [Abstract]
  Download: pdf [6719 KB] copyrighted

• A Robust Approach to High-Speed Navigation for Unrehearsed Desert Terrain
  C. Urmson, J. Anhalt, D. Bartz, M. Clark, T. Galatali, A. Gutierrez, S. Harbaugh, J. Johnston, H. Kato, P.L. Koon, W. Messner, N. Miller, A. Mosher, K. Peterson, C. Ragusa, D. Ray, B.K. Smith, J.M. Snider, S. Spiker, J.C. Struble, J. Ziglar, and W.L. Whittaker
  Journal of Field Robotics, Vol. 23, No. 8, August, 2006, pp. 467-508. [Abstract]
  Download: pdf [3058 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

• Preplanning for high performance autonomous traverse of desert terrain exploiting a priori knowledge to optimize speeds and to detail paths
  A. Gutierrez, T. Galatali, J.P. Gonzalez, C. Urmson, and W.L. Whittaker
  tech. report CMU-RI-TR-05-54, Robotics Institute, Carnegie Mellon University, December, 2005. [Abstract]
  Download: pdf [18575 KB] copyrighted

• Design and Control of a Passively Steered, Dual Axle Vehicle
  M.D. Wagner, S. Heys, D. Wettergreen, J. Teza, D. Apostolopoulos, G.A. Kantor, and W.L. Whittaker
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [4416 KB] copyrighted

• First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile
  D. Wettergreen, N. Cabrol, J. Teza, P. Tompkins, C. Urmson, V. Verma, M.D. Wagner, and W.L. Whittaker
  International Conference on Robotics and Automation, IEEE, April, 2005. [Abstract]
  Download: pdf [526 KB] copyrighted

• Robotic Technologies for Surveying Habitats and Seeking Evidence of Life: Results from the 2004 Field Experiments of the “Life in the Atacama” Project
  D. Wettergreen, N. Cabrol, W.L. Whittaker, G.C. Diaz, F. Calderon, S. Heys, D. Jonak, R.A. Luders, J. Moersch, D. Pane, M. Smith, K. Stubbs, J. Teza, P. Tompkins, D. Villa, C. Williams, M.D. Wagner, A. Waggoner, S. Weinstein, and M. Wyatt
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]

• Searching for Life with Rovers: Exploration Methods and Science Results from the 2004 Field Campaign of the "Life in the Atacama" Project and Applications to Future Mars Missions
  N.A. Cabrol, D. Wettergreen, W.L. Whittaker, E.A. Grin, J. Moersch, G.C. Diaz, C. Cockell, P. Coppin, J.M. Dohm, G. Fisher, A.N. Hock, L. Marinangeli, E. Minkley, G.G. Ori, J. Piatek, A. Waggoner, K. Warren-Rhodes, S. Weinstein, M. Wyatt, F. Calderon, S. Heys, D. Jonak, R.A. Luders, D. Pane, T. Smith, K. Stubbs, J. Teza, P. Tompkins, D. Villa, C. Williams, M.D. Wagner, G. Thomas, and J. Glasgow
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [70 KB] copyrighted

• Spectroscopic Results from the Life in the Atacama (LITA) Project 2004 Field Season
  J.L. Piatek, J.E. Moersch, M. Wyatt, M. Rampey, N.A. Cabrol, D. Wettergreen, W.L. Whittaker, E.A. Grin, G.C. Diaz, C. Cockell, P. Coppin, J.M. Dohm, G. Fisher, A.N. Hock, L. Marinangeli, E. Minkley, G.G. Ori, A. Waggoner, K. Warren-Rhodes, S. Weinstein, D. Apostolopoulos, T. Smith, M.D. Wagner, K. Stubbs, G. Thomas, and J. Glasgow
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [137 KB] copyrighted

• Sun-Synchronous Robotic Exploration: Technical Description and Field Experimentation
  D. Wettergreen, P. Tompkins, C. Urmson, M.D. Wagner, and W.L. Whittaker
  The International Journal of Robotics Research, Vol. 24, No. 1, January, 2005, pp. 3-30. [Abstract]
  Download: pdf [11573 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

• High Speed Navigation of Unrehearsed Terrain: Red Team Technology for Grand Challenge 2004
  C. Urmson, J. Anhalt, M. Clark, T. Galatali, J.P. Gonzalez, J. Gowdy, A. Gutierrez, S. Harbaugh, M. Johnson-Roberson, H. Kato, P.L. Koon, K. Peterson, B.K. Smith, S. Spiker, E. Tryzelaar, and W.L. Whittaker
  tech. report CMU-RI-TR-04-37, Robotics Institute, Carnegie Mellon University, June, 2004. [Abstract]
  Download: pdf [5244 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

• 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

• 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

• 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

• First Experiment in Sun-Synchronous Exploration
  D. Wettergreen, M.B. Dias, B. Shamah, J. Teza, P. Tompkins, C. Urmson, M.D. Wagner, and W.L. Whittaker
  International Conference on Robotics and Automation, May, 2002, pp. 3501-3507. [Abstract]
  Download: pdf [1076 KB] copyrighted

• 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

• Steering and Control of a Passively Articulated Robot
  B. Shamah, M.D. Wagner, S. Moorehead, J. Teza, D. Wettergreen, and W.L. Whittaker
  SPIE, Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. 4571, October, 2001. [Abstract]
  Download: pdf [186 KB] copyrighted

• A Sensor Arm for Robotic Antarctic Meteorite Search
  C. Urmson, B. Shamah, J. Teza, M.D. Wagner, D. Apostolopoulos, and W.L. Whittaker
  Proceedings of the 3rd International Conference on Field and Service Robotics, Helsinki, Finland, July, 2001. [Abstract]
  Download: pdf [383 KB] copyrighted

• A Multiple Information Source Planner for Autonomous Planetary Exploration
  S. Moorehead, R. Simmons, and W.L. Whittaker
  International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), June, 2001. [Abstract]
  Download: pdf [342 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

• MMW-Scanning Radar for Descent Guidance and Landing Safeguard
  A. Foessel and W.L. Whittaker
  Proceedings 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 2001. [Abstract]
  Download: pdf [217 KB] copyrighted

• Robotic Planetary Exploration by Sun-Synchronous Navigation
  D. Wettergreen, B. Shamah, P. Tompkins, 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 [385 KB] copyrighted

• Three-Dimensional Map Building with MMW Radar
  A. Foessel, J. Bares, and W.L. Whittaker
  Proceedings of the 3rd International Conference on Field and Service Robotics, Yleisjäljennös - Painnopörssi, Helsinki, Finland, June, 2001. [Abstract]
  Download: pdf [219 KB] copyrighted

• Autonomous Exploration Using Multiple Sources of Information
  S. Moorehead, R. Simmons, and W.L. Whittaker
  IEEE International Conference on Robotics and Automation, May, 2001. [Abstract]
  Download: pdf [210 KB] copyrighted

• Autonomous Robotic Meteorite Identification in Antarctica
  L. Pedersen, M.D. Wagner, D. Apostolopoulos, and W.L. Whittaker
  2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 4158-4165. [Abstract]
  Download: pdf [471 KB] copyrighted

• Robotic Antarctic Meteorite Search: Outcomes
  D. Apostolopoulos, L. Pedersen, B. Shamah, K. Shillcutt, M.D. Wagner, and W.L. Whittaker
  2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 4174-4179. [Abstract]
  Download: pdf [1698 KB] copyrighted

• Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities
  P. Staritz, S. Skaff, C. Urmson, and W.L. Whittaker
  Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), Vol. 4, May, 2001, pp. 4180 - 4185. [Abstract]
  Download: pdf [465 KB] copyrighted

• Solar Navigational Planning for Robotic Explorers
  K. Shillcutt and W.L. Whittaker
  2001 IEEE International Conference on Robotics and Automation, Vol. 2, May, 2001, pp. 1421 - 1426. [Abstract]
  Download: pdf [184 KB] copyrighted

• The Science Autonomy System of the Nomad Robot
  M.D. Wagner, D. Apostolopoulos, K. Shillcutt, B. Shamah, R. Simmons, and W.L. Whittaker
  2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 1742-1749. [Abstract]
  Download: pdf [279 KB] copyrighted

• Skyworker: Robotics for Space Assembly, Inspection and Maintenance
  S. Skaff, P. Staritz, and W.L. Whittaker
  Space Studies Institute Conference, 2001. [Abstract]
  Download: pdf [215 KB] copyrighted

• Technology and Field Demonstration of Robotic Search for Antarctic Meteorites
  D. Apostolopoulos, M.D. Wagner, B. Shamah, L. Pedersen, K. Shillcutt, and W.L. Whittaker
  International Journal of Robotics Research, December, 2000. [Abstract]
  Download: pdf [963 KB] copyrighted

• EventScope: Amplifying Human Knowledge and Experience via Intelligent Robotic Systems and Information Interaction
  P. Coppin, R. Pell, M.D. Wagner, J.R. Hayes, J. Li, L. Hall, K. Fischer, D. Hirschfield, and W.L. Whittaker
  IEEE International Workshop on Robot-Human Interaction, Osaka, Japan, September 2000, September, 2000. [Abstract]
  Download: pdf [34 KB] copyrighted

• Robotics for Assembly, Inspection, and Maintenance of Space Macrofacilities
  W.L. Whittaker, C. Urmson, P. Staritz, B. Kennedy, and R. Ambrose
  AIAA Space 2000 Conference and Exposition, AIAA, 1801 Alexander Bell Drive, Suite 500, Reston, VA 20191, September, 2000. [Abstract]
  Download: pdf [331 KB] copyrighted

• Sun-Synchronous Planetary Exploration
  W.L. Whittaker, G.A. Kantor, B. Shamah, and D. Wettergreen
  AIAA Space 2000 Conference an Exposition, September, 2000. [Abstract]
  Download: pdf [203 KB] copyrighted

• Evaluation of Computer Vision Algorithms for Autonomous Navigation in Polar Terrains
  N. Vandapel, R. Chatila, S. Moorehead, S. Lacroix, D. Apostolopoulos, and W.L. Whittaker
  International Conference on Intelligent Autonomous Systems, 2000. [Abstract]

• Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain
  B. Shamah, D. Apostolopoulos, M.D. Wagner, and W.L. Whittaker
  Proceeding of the International Conference on Field and Service Robots, August, 1999, pp. 287-292. [Abstract]
  Download: pdf [146 KB] copyrighted

• Technology and Field Demonstration Results in the Robotic Search for Antarctic Meteorites
  D. Apostolopoulos, M. Wagner, and W.L. Whittaker
  Proceedings of the International Conference on Field and Service Robotics, August, 1999, pp. 185-190. [Abstract]
  Download: pdf [193 KB] copyrighted

• Technology and Field Demonstration Results in the Robotic Search for Antarctic Meteorites
  D. Apostolopoulos, M.D. Wagner, and W.L. Whittaker
  Proceedings of the International Conference on Field and Service Robotics, August, 1999, pp. 185-190. [Abstract]
  Download: pdf [193 KB] copyrighted

• Autonomous Navigation Field Results of a Planetary Analog Robot in Antarctica
  S. Moorehead, R. Simmons, D. Apostolopoulos, and W.L. Whittaker
  International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 1999. [Abstract]
  Download: pdf [115 KB] copyrighted

• Solar Power Expert for Remote Robotic Explorers
  K. Shillcutt and W.L. Whittaker
  International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 1999.
  Download: pdf [90 KB] copyrighted

• Patterned Search Planning and Testing for the Robotic Antarctic Meteorite Search
  K. Shillcutt, D. Apostolopoulos, and W.L. Whittaker
  1999 International Topical Meeting on Robotics and Remote Systems for the Nuclear Industry, American Nuclear Society, April, 1999.
  Download: pdf [171 KB] copyrighted

• Preliminary Results on the use of Stereo, Color Cameras and Laser Sensors in Antarctica
  N. Vandapel, S. Moorehead, W.L. Whittaker, R. Chatila, and R. Murrieta-Cid
  International Symposium on Experimental Robotics, March, 1999. [Abstract]
  Download: pdf [743 KB], ps.gz [1586 KB] copyrighted

• Radar sensor for an autonomous Antarctic explorer
  A. Foessel, D. Apostolopoulos, and W.L. Whittaker
  Proc. SPIE , Mobile Robots XIII and Intelligent Transportation Systems, Vol. 3525, January, 1999, pp. 117-124. [Abstract]
  Download: pdf [523 KB], ps.gz [679 KB] copyrighted

• Robotic Rock Classification Using Visible Light Reflectance Spectroscopy: Preliminary results from the Robotic Antarctic Meteorite Search program
  L. Pedersen, D. Apostolopoulos, W.L. Whittaker, W. Cassidy, P. Lee, and T. Roush
  Lunar and Planetary Science Conference XXX, 1999.

• Search for Meteorites at Martin Hills and Pirrit Hills, Antarctica
  P. Lee, W.A. Cassidy, D. Apostolopoulos, D. Bassi, L. Bravo, H. Cifuentes, M. Deans, A. Foessel, S. Moorehead, M. Parris, C. Puebla, L. Pedersen, M. Sibenac, F. Valdés, N. Vandapel, and W.L. Whittaker
  Lunar and Planetary Science Conference XXX, 1999.
  Download: pdf [202 KB] copyrighted

• Field Validation of Nomad's Robotic Locomotion
  B. Shamah, D. Apostolopoulos, E. Rollins, and W.L. Whittaker
  Proceedings of SPIE - The International Society of Photo-Optical Engineering, Vol. 3525, November, 1998, pp. 214-222. [Abstract]
  Download: pdf [561 KB], ps.gz [2275 KB] copyrighted

• Modular Optimization for Robotic Explorers
  K. Shillcutt and W.L. Whittaker
  Integrated Planning for Autonomous Agent Architectures, AAAI Fall Symposium, October, 1998.
  Download: pdf [71 KB], ps.gz [106 KB] copyrighted

• The Atacama Desert Trek: Outcomes
  D. Bapna, E. Rollins, J. Murphy, M. Maimone, W.L. Whittaker, and D. Wettergreen
  Proceedings of ICRA 1998, Vol. 1, May, 1998, pp. 597 - 604. [Abstract]
  Download: pdf [348 KB] copyrighted

• A Concept for Robotic Lunar South Pole Exploration
  M. Deans, S. Moorehead, B. Shamah, K. Shillcutt, and W.L. Whittaker
  Proceedings of the Sixth International Conference and Exposition on Engineering, Construction, and Operations in Space (Space '98), April, 1998, pp. 333-339.
  Download: pdf [204 KB], ps.gz [253 KB] copyrighted

• Nomad: A Demonstration of the Transforming Chassis
  E. Rollins, J. Luntz, A. Foessel, B. Shamah, and W.L. Whittaker
  Proceedings of the 1998 Intelligent Components for Vehicles, March, 1998.
  Download: pdf [283 KB], ps.gz [461 KB] copyrighted

• Antenna Pointing for High Bandwidth Communications from Mobile Robots
  D. Bapna, E. Rollins, A. Foessel, and W.L. Whittaker
  Proceedings of ICRA 1998, Vol. 4, 1998, pp. 3468 - 3473. [Abstract]
  Download: pdf [167 KB], ps.gz [361 KB] copyrighted

• Sensing and data classification for robotic meteorite search
  L. Pedersen, D. Apostolopoulos, W.L. Whittaker, G. Benedix, and T. Roush
  1998.

• An Innovative High Bandwidth Communication System for Mobile Robots
  D. Bapna, J. Teza, E. Rollins, and W.L. Whittaker
  27th International Conference on Environmental Systems, July, 1997.

• Atacama Desert Trek: A Planetary Analog Field Experiment
  W.L. Whittaker, D. Bapna, M. Maimone, and E. Rollins
  i-SAIRAS'97, July, 1997.
  Download: pdf [324 KB], ps.gz [428 KB] copyrighted

• Earth-Moon Communication from a Moving Lunar Rover
  D. Bapna, M.C. Martin, and W.L. Whittaker
  Proceedings of the 42nd International Instrumentation Symposium, May, 1996, pp. 613-622.
  Download: pdf [30 KB], ps.gz [31 KB] copyrighted

• Technology and Demonstrations for a Lunar Rover Expedition
  L. Katragadda, J. Murphy, D. Apostolopoulos, D. Bapna, and W.L. Whittaker
  1996 SAE International Conference on Environmental Systems, 1996.

• An Edutainment Based Lunar Mission and Related Spectrum Issues
  D. Bapna and W.L. Whittaker
  Space Frequency Coordination Group Meeting, December, 1995.
  Download: pdf [344 KB], ps.gz [674 KB] copyrighted

• A Prototype Locomotion Concept for a Lunar Robotic Explorer
  Y. Fuke, D. Apostolopoulos, E. Rollins, J. Silberman, and W.L. Whittaker
  1995 IEEE International Symposium on Intelligent Vehicles, September, 1995, pp. 382 - 387. [Abstract]
  Download: pdf [695 KB] copyrighted

• Ambler: Performance of a Six-Legged Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  Acta Astonautica, Vol. 35, No. 1, 1995, pp. 75-81. [Abstract]
  Download: pdf [178 KB] copyrighted

• Experience with Rover Navigation for Lunar-Like Terrains
  R. Simmons, E. Krotkov, L. Chrisman, F. Cozman, R. Goodwin, M. Hebert, L. Katragadda, S. Koenig, G. Krishnaswamy, Y. Shinoda, W.L. Whittaker, and P. Klarer
  Proceedings of the 1995 Conference on Intelligent Robots and Systems (IROS '95), IEEE, 1995, pp. 441 - 446. [Abstract]
  Download: pdf [244 KB], ps.gz [648 KB] copyrighted

• Mixed-Mode Control of Navigation for a Lunar Rover
  R. Simmons, E. Krotkov, L. Chrisman, F. Cozman, R. Goodwin, M. Hebert, G. Heredia, S. Koenig, P. Muir, Y. Shinoda, and W.L. Whittaker
  Proceedings of the SSI/Princeton Space Manufacturing Conference, 1995.
  Download: pdf [290 KB], ps.gz [897 KB] copyrighted

• Direct Communication from a Lunar Rover to Earth Enabled by Precision Pointing
  D. Bapna, W.L. Whittaker, and N. Colella
  International Lunar Exploration Conference, November, 1994.
  Download: pdf [72 KB], ps.gz [86 KB] copyrighted

• Three Mobile Robots For Space Context
  W.L. Whittaker, J. Bares, K. Dowling, and L. Kattragadda
  AIAA/NASA Conference on Intelligent Robots in Field, Factory, Service and Space (CIRFFSS '94) Conference, March, 1994.
  Download: pdf [33 KB], ps.gz [32 KB] copyrighted

• Lunar Rover Technology Demonstrations with Dante and Ratler
  E. Krotkov, J. Bares, L. Katragadda, R. Simmons, and W.L. Whittaker
  Proceedings of the International Symposium on Artificial Intelligence, Robotics, and Automation for Space, 1994.

• Autonomous Walking Results with the Ambler Hexapod Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  International Conference of Intelligent Autonomous Systems, 1993, pp. 46 - 53. [Abstract]
  Download: pdf [301 KB] copyrighted

• Exploring Mount Erebus by Walking Robot
  D. Wettergreen, C. Thorpe, and W.L. Whittaker
  International Conference of Intelligent Autonomous Systems, 1993, pp. pp72-81.
  Download: pdf [893 KB] copyrighted

• Exploring Mount Erebus by Walking Robot
  D. Wettergreen, C. Thorpe, and W.L. Whittaker
  Robotics and Autonomous Systems, 1993.
  Download: pdf [893 KB] copyrighted

• 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 walking prescription for statically-stable walkers based on walker/terrain interaction
  P.V. Nagy, W.L. Whittaker, and S. Desa
  Proceedings of the 1992 IEEE International Conference on Robotics and Automation (ICRA '92), Vol. 1, May, 1992, pp. 149 - 156. [Abstract]
  Download: pdf [579 KB] copyrighted

• 1991 Year End Report Autonomous Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  tech. report CMU-RI-TR-92-02, Robotics Institute, Carnegie Mellon University, February, 1992. [Abstract]
  Download: pdf [2782 KB] copyrighted

• 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.

• 1990 Year End Report. Autonomous Planetary Rover at Carnegie Mellon
  W.L. Whittaker, T. Kanade, and T. Mitchell
  tech. report CMU-RI-TR-91-19, Robotics Institute, Carnegie Mellon University, August, 1991. [Abstract]
  Download: pdf [2716 KB] copyrighted

• 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

• Leveling of the AMBLER Walking Machine: A Comparison of Methods
  P.G. de Santos, P.V. Nagy, and W.L. Whittaker
  tech. report CMU-RI-TR-91-13, Robotics Institute, Carnegie Mellon University, July, 1991. [Abstract]
  Download: pdf [1108 KB] copyrighted

• Ambler: a six-legged planetary rover
  E. Krotkov, J. Bares, T. Kanade, T. Mitchell, R. Simmons, and W.L. Whittaker
  Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), Vol. 1, June, 1991, pp. 717 - 722. [Abstract]
  Download: pdf [553 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

• Japan robotics aim for unmanned space exploration
  W.L. Whittaker and T. Kanade
  IEEE Spectrum, Vol. 27, No. 12, December, 1990, pp. 64 - 67. [Abstract]
  Download: pdf [524 KB] copyrighted

• Assessment of joint driving configurations for body propulsion of an orthogonal legged walker
  D.J. Manko and W.L. Whittaker
  IEEE International Conference on Systems Engineering, August, 1990, pp. 204 - 207. [Abstract]
  Download: pdf [312 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.

• Walking robot with a circulating gait
  J. Bares and W.L. Whittaker
  Proceedings of the 1990 IEEE/RSJ International Conference on Intelligent Robots and Systems, Towards a New Frontier of Applications (IROS '90), Vol. 2, July, 1990, pp. 809 - 816. [Abstract]
  Download: pdf [636 KB] copyrighted

• 1989 Year End Report: Autonomous Planetary Rover at Carnegie Mellon
  W.L. Whittaker, T. Kanade, and T. Mitchell
  tech. report CMU-RI-TR-90-04, Robotics Institute, Carnegie Mellon University, February, 1990. [Abstract]
  Download: pdf [2348 KB] copyrighted

• Development of an Integrated Mobile Robot System: December 1989 Final Report
  S. Shafer and W.L. Whittaker
  tech. report CMU-RI-TR-90-12, Robotics Institute, Carnegie Mellon University, January, 1990.
  Download: pdf [3501 KB] copyrighted

• Motion control for a novel legged robot
  P.V. Nagy and W.L. Whittaker
  Proceedings of the 1989 IEEE International Symposium on Intelligent Control, September, 1989, pp. 2 - 7. [Abstract]
  Download: pdf [546 KB] copyrighted

• Development of an Integrated Mobile Robot System at CMU: June 1988 Annual Report
  S. Shafer and W.L. Whittaker
  tech. report CMU-RI-TR-89-22, Robotics Institute, Carnegie Mellon University, July, 1989.
  Download: pdf [2257 KB] copyrighted

• Ambler: An Autonomous Rover for Planetary Exploration
  J. Bares, M. Hebert, T. Kanade, E. Krotkov, T. Mitchell, R. Simmons, and W.L. Whittaker
  IEEE Computer, Vol. 22, No. 6, June, 1989, pp. 18-26. [Abstract]
  Download: pdf [1004 KB] copyrighted

• 1988 Year End Report: Autonomous Planetary Rover at CMU
  T. Kanade, T. Mitchell, and W.L. Whittaker
  tech. report CMU-RI-TR-89-03, Robotics Institute, Carnegie Mellon University, January, 1989.
  Download: pdf [2348 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

• June 1987 Annual Report: Development of an Integrated Mobile Robot System at Carnegie Mellon
  S. Shafer and W.L. Whittaker
  tech. report CMU-RI-TR-88-10, Robotics Institute, Carnegie Mellon University, July, 1987.
  Download: pdf [5535 KB] copyrighted

• Autonomous Land Vehicle Project at CMU
  T. Kanade, C. Thorpe, and W.L. Whittaker
  Proc. 1986 ACM Computer Conference, February, 1986.

• 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.